Hardware Implementation of a CPG-Based Locomotion Control for Quadruped Robots
Identifieur interne : 003069 ( Main/Exploration ); précédent : 003068; suivant : 003070Hardware Implementation of a CPG-Based Locomotion Control for Quadruped Robots
Auteurs : Jose Hugo Barron-Zambrano [Mexique] ; Cesar Torres-Huitzil [Mexique] ; Bernard Girau [France]Source :
- Lecture Notes in Computer Science [ 0302-9743 ]
Abstract
Abstract: This paper presents a hardware implementation of a controller to generate adaptive gait patterns for quadruped robots inspired by biological Central Pattern Generators (CPGs). The basic CPGs are modeled as non-linear oscillators which are connected one to each other through coupling parameters that can be modified for different gaits. The proposed implementation is based on an specific digital module for CPGs attached to a soft-core processor so as to provide an integrated and flexible embedded system. The system is implemented on a Field Programmable Gate Array (FPGA) device providing a compact and low power consumption solution for generating periodic rhythmic patterns in robot control applications. Experimental results show that the proposed implementation is able to generate suitable gait patterns, such as walking, trotting, and galloping.
Url:
DOI: 10.1007/978-3-642-15822-3_35
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Istex, to step Corpus: 001F11
- to stream Istex, to step Curation: 001E86
- to stream Istex, to step Checkpoint: 000831
- to stream Hal, to step Corpus: 002745
- to stream Hal, to step Curation: 002745
- to stream Hal, to step Checkpoint: 002344
- to stream Main, to step Merge: 003126
- to stream Main, to step Curation: 003069
Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Hardware Implementation of a CPG-Based Locomotion Control for Quadruped Robots</title><author><name sortKey="Barron Zambrano, Jose Hugo" sort="Barron Zambrano, Jose Hugo" uniqKey="Barron Zambrano J" first="Jose Hugo" last="Barron-Zambrano">Jose Hugo Barron-Zambrano</name></author><author><name sortKey="Torres Huitzil, Cesar" sort="Torres Huitzil, Cesar" uniqKey="Torres Huitzil C" first="Cesar" last="Torres-Huitzil">Cesar Torres-Huitzil</name></author><author><name sortKey="Girau, Bernard" sort="Girau, Bernard" uniqKey="Girau B" first="Bernard" last="Girau">Bernard Girau</name></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:86441C486CB862DF02EB99A6AC037EF0FBCE103E</idno><date when="2010" year="2010">2010</date><idno type="doi">10.1007/978-3-642-15822-3_35</idno><idno type="url">https://api.istex.fr/ark:/67375/HCB-32SZ0H35-3/fulltext.pdf</idno><idno type="wicri:Area/Istex/Corpus">001F11</idno><idno type="wicri:explorRef" wicri:stream="Istex" wicri:step="Corpus" wicri:corpus="ISTEX">001F11</idno><idno type="wicri:Area/Istex/Curation">001E86</idno><idno type="wicri:Area/Istex/Checkpoint">000831</idno><idno type="wicri:explorRef" wicri:stream="Istex" wicri:step="Checkpoint">000831</idno><idno type="wicri:doubleKey">0302-9743:2010:Barron Zambrano J:hardware:implementation:of</idno><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:inria-00522186</idno><idno type="url">https://hal.inria.fr/inria-00522186</idno><idno type="wicri:Area/Hal/Corpus">002745</idno><idno type="wicri:Area/Hal/Curation">002745</idno><idno type="wicri:Area/Hal/Checkpoint">002344</idno><idno type="wicri:explorRef" wicri:stream="Hal" wicri:step="Checkpoint">002344</idno><idno type="wicri:Area/Main/Merge">003126</idno><idno type="wicri:Area/Main/Curation">003069</idno><idno type="wicri:Area/Main/Exploration">003069</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Hardware Implementation of a CPG-Based Locomotion Control for Quadruped Robots</title><author><name sortKey="Barron Zambrano, Jose Hugo" sort="Barron Zambrano, Jose Hugo" uniqKey="Barron Zambrano J" first="Jose Hugo" last="Barron-Zambrano">Jose Hugo Barron-Zambrano</name><affiliation wicri:level="1"><country xml:lang="fr">Mexique</country><wicri:regionArea>Information Technology Laboratory, CINVESTAV Tamaulipas</wicri:regionArea><wicri:noRegion>CINVESTAV Tamaulipas</wicri:noRegion></affiliation><affiliation wicri:level="1"><country wicri:rule="url">Mexique</country></affiliation></author><author><name sortKey="Torres Huitzil, Cesar" sort="Torres Huitzil, Cesar" uniqKey="Torres Huitzil C" first="Cesar" last="Torres-Huitzil">Cesar Torres-Huitzil</name><affiliation wicri:level="1"><country xml:lang="fr">Mexique</country><wicri:regionArea>Information Technology Laboratory, CINVESTAV Tamaulipas</wicri:regionArea><wicri:noRegion>CINVESTAV Tamaulipas</wicri:noRegion></affiliation><affiliation wicri:level="1"><country wicri:rule="url">Mexique</country></affiliation></author><author><name sortKey="Girau, Bernard" sort="Girau, Bernard" uniqKey="Girau B" first="Bernard" last="Girau">Bernard Girau</name><affiliation wicri:level="1"><country xml:lang="fr">France</country><wicri:regionArea>Cortex team, LORIA-INRIA Grand Est, Vandoeuvre-les-Nancy Cedex</wicri:regionArea><wicri:noRegion>Vandoeuvre-les-Nancy Cedex</wicri:noRegion><wicri:noRegion>Vandoeuvre-les-Nancy Cedex</wicri:noRegion></affiliation><affiliation wicri:level="1"><country wicri:rule="url">France</country></affiliation></author></analytic><monogr></monogr><series><title level="s" type="main" xml:lang="en">Lecture Notes in Computer Science</title><idno type="ISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="ISSN">0302-9743</idno></series></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract: This paper presents a hardware implementation of a controller to generate adaptive gait patterns for quadruped robots inspired by biological Central Pattern Generators (CPGs). The basic CPGs are modeled as non-linear oscillators which are connected one to each other through coupling parameters that can be modified for different gaits. The proposed implementation is based on an specific digital module for CPGs attached to a soft-core processor so as to provide an integrated and flexible embedded system. The system is implemented on a Field Programmable Gate Array (FPGA) device providing a compact and low power consumption solution for generating periodic rhythmic patterns in robot control applications. Experimental results show that the proposed implementation is able to generate suitable gait patterns, such as walking, trotting, and galloping.</div></front></TEI><affiliations><list><country><li>France</li><li>Mexique</li></country></list><tree><country name="Mexique"><noRegion><name sortKey="Barron Zambrano, Jose Hugo" sort="Barron Zambrano, Jose Hugo" uniqKey="Barron Zambrano J" first="Jose Hugo" last="Barron-Zambrano">Jose Hugo Barron-Zambrano</name></noRegion><name sortKey="Barron Zambrano, Jose Hugo" sort="Barron Zambrano, Jose Hugo" uniqKey="Barron Zambrano J" first="Jose Hugo" last="Barron-Zambrano">Jose Hugo Barron-Zambrano</name><name sortKey="Torres Huitzil, Cesar" sort="Torres Huitzil, Cesar" uniqKey="Torres Huitzil C" first="Cesar" last="Torres-Huitzil">Cesar Torres-Huitzil</name><name sortKey="Torres Huitzil, Cesar" sort="Torres Huitzil, Cesar" uniqKey="Torres Huitzil C" first="Cesar" last="Torres-Huitzil">Cesar Torres-Huitzil</name></country><country name="France"><noRegion><name sortKey="Girau, Bernard" sort="Girau, Bernard" uniqKey="Girau B" first="Bernard" last="Girau">Bernard Girau</name></noRegion><name sortKey="Girau, Bernard" sort="Girau, Bernard" uniqKey="Girau B" first="Bernard" last="Girau">Bernard Girau</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Wicri/Lorraine/explor/InforLorV4/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 003069 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 003069 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Wicri/Lorraine
|area= InforLorV4
|flux= Main
|étape= Exploration
|type= RBID
|clé= ISTEX:86441C486CB862DF02EB99A6AC037EF0FBCE103E
|texte= Hardware Implementation of a CPG-Based Locomotion Control for Quadruped Robots
}}
| This area was generated with Dilib version V0.6.33. |  |