Locomotion control of a hexapod robot with tripod gait using central pattern generator network
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Sheng, D.B. | - |
dc.contributor.author | Nguyen, T.H. | - |
dc.contributor.author | Nguyen, H.H. | - |
dc.contributor.author | Kim, H.K. | - |
dc.contributor.author | Jun, B.H. | - |
dc.contributor.author | Kim, S.B. | - |
dc.date.accessioned | 2023-12-22T08:30:58Z | - |
dc.date.available | 2023-12-22T08:30:58Z | - |
dc.date.issued | 2017 | - |
dc.identifier.issn | 1876-1100 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8531 | - |
dc.description.abstract | This paper presents locomotion control of a hexapod robot with tripod gait using central pattern generator (CPG) network. To do this task, the followings are done. First, kinematic modeling of one leg with four links and four rotational joints of hexapod robot is proposed using Denavit-Hartenberg (DH) convention. Second, the walking gait of hexapod robot is generated by central pattern generator network. Third, mapping functions are proposed to map the output of CPG network into a desired trajectory of the end effector of the hexapod robot. It is difficult and complex to get the angles of four rotational joints of one leg using inverse kinematics. To solve this problem, differential kinematics algorithm is used to realize the end effector following the trajectory obtained by the mapping functions for six legs. Finally, simulation results for walking motion of the hexapod robot are shown to prove the effectiveness and applicability of the proposed controller. ? Springer International Publishing AG 2017. | - |
dc.format.extent | 16 | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.publisher | Springer Verlag | - |
dc.title | Locomotion control of a hexapod robot with tripod gait using central pattern generator network | - |
dc.type | Article | - |
dc.publisher.location | 독일 | - |
dc.identifier.doi | 10.1007/978-3-319-50904-4_65 | - |
dc.identifier.scopusid | 2-s2.0-85009465968 | - |
dc.identifier.bibliographicCitation | Lecture Notes in Electrical Engineering, v.415 LNEE, pp 625 - 640 | - |
dc.citation.title | Lecture Notes in Electrical Engineering | - |
dc.citation.volume | 415 LNEE | - |
dc.citation.startPage | 625 | - |
dc.citation.endPage | 640 | - |
dc.type.docType | Conference Paper | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Complex networks | - |
dc.subject.keywordPlus | Inverse kinematics | - |
dc.subject.keywordPlus | Inverse problems | - |
dc.subject.keywordPlus | Kinematics | - |
dc.subject.keywordPlus | Mapping | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Central pattern generator | - |
dc.subject.keywordPlus | D-H convention | - |
dc.subject.keywordPlus | Desired trajectories | - |
dc.subject.keywordPlus | Differential kinematics | - |
dc.subject.keywordPlus | Hexapod robots | - |
dc.subject.keywordPlus | Locomotion control | - |
dc.subject.keywordPlus | Mapping functions | - |
dc.subject.keywordPlus | Rotational joint | - |
dc.subject.keywordPlus | End effectors | - |
dc.subject.keywordAuthor | Central pattern generator (CPG) | - |
dc.subject.keywordAuthor | DH convention | - |
dc.subject.keywordAuthor | Differential kinematics algorithm | - |
dc.subject.keywordAuthor | Hexapod robot | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(34103) 대전광역시 유성구 유성대로1312번길 32042-866-3114
COPYRIGHT 2021 BY KOREA RESEARCH INSTITUTE OF SHIPS & OCEAN ENGINEERING. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.