Central Pattern Generator Based Omnidirectional Locomotion for Quadrupedal Robotics

Abstract

Trajectory generation for quadruped robots is a challenging task since they are underactuated systems which must balance using sensory feedback and satisfy ground contact constraints. There is a substantial body of evidence that many animals use central pattern generators (CPGs) for generating joint trajectories and regulation through sensory feedback. However, CPG models formulated in the joint space do not explicitly formulate or account for ground contact constraints especially during turning which can introduce foot slip in the gait. Task-based CPGs offer several advantages in that they can explicitly satisfy ground contact constraints, and we suggest an approach to generating foot velocity controls in the body frame to enable omnidirectional locomotion.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2014
Accession Number
ADA618914

Entities

People

  • Donald Sofge
  • Joe Hays
  • Michael J. Kuhlman
  • Satyandra K. Gupta

Organizations

  • United States Naval Research Laboratory

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Space

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Systems
  • Autonomous Vehicles
  • Brushless Dc Motors
  • Demographic Cohorts
  • Engineering
  • Feedback
  • Generators
  • Locomotion
  • Mechanical Engineering
  • Military Research
  • Motion Planning
  • Nerve Net
  • Omnidirectional
  • Robotics
  • Robots
  • Trajectories

Readers

  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers