InforLorV4, Main, Exploration, bibRecord, 001974

Configurable Embedded CPG-based Control for Robot Locomotion

Identifieur interne : 001974 ( Main/Exploration ); précédent : 001973; suivant : 001975

Configurable Embedded CPG-based Control for Robot Locomotion

Auteurs : Jose Hugo Barron-Zambrano [Mexique] ; Cesar Torres-Huitzil [Mexique] ; Bernard Girau [France]

Source :

International Journal of Advanced Robotic Systems [ 1729-8806 ] ; 2012-09.

RBID : Hal:hal-00762298

Abstract

the development of intelligent robots has benefited from a deeper understanding of the biomechanics and neurology of biological systems. Researchers have proposed the concept of Central Pattern Generators (CPGs) as a mechanism for generating an efficient control strategy for legged robots based on biological locomotion principles. Although many studies have aimed to develop robust legged locomotion controllers, relatively few of them have focused on adopting the technology for fully practical embedded hardware implementations. In this contribution, a reconfigurable hardware implementation of a CPG‐based controller which is able to generate several gaits for quadruped and hexapod robots is presented. The proposed implementation is modular and configurable in order to scale up to legged robots with different degrees of freedom. Experimental results for embedded Field Programmable Gate Array (FPGA) implementations for quadruped and hexapod robot controllers are presented and analysed.

Url:

https://hal.inria.fr/hal-00762298

DOI: 10.5772/50985

Affiliations:

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: 001825
to stream Hal, to step Curation: 001825
to stream Hal, to step Checkpoint: 001592
to stream Main, to step Merge: 001A02
to stream Main, to step Curation: 001974

Le document en format XML

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<front><div type="abstract" xml:lang="en">the development of intelligent robots has benefited from a deeper understanding of the biomechanics and neurology of biological systems. Researchers have proposed the concept of Central Pattern Generators (CPGs) as a mechanism for generating an efficient control strategy for legged robots based on biological locomotion principles. Although many studies have aimed to develop robust legged locomotion controllers, relatively few of them have focused on adopting the technology for fully practical embedded hardware implementations. In this contribution, a reconfigurable hardware implementation of a CPG‐based controller which is able to generate several gaits for quadruped and hexapod robots is presented. The proposed implementation is modular and configurable in order to scale up to legged robots with different degrees of freedom. Experimental results for embedded Field Programmable Gate Array (FPGA) implementations for quadruped and hexapod robot controllers are presented and analysed.</div>
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Configurable Embedded CPG-based Control for Robot Locomotion

Configurable Embedded CPG-based Control for Robot Locomotion

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Abstract

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Le document en format XML

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