Research on the Gait Planning of Artificial Leg Based on Central Pattern Generator

DOI

10.2991/icimm-16.2016.45How to use a DOI?

Keywords

Central Pattern Generator (CPG); Artificial Leg; Gait Planning; Genetic Algorithm

Abstract

To achieve the artificial leg of biped robot with heterogeneous legs (BRHL) humanoid walking, the gait planning of artificial leg was researched in this paper based on central pattern generator (CPG). Firstly, the hopf oscillator was analyzed and applied to build the CPG network. Then, the parameters of CPG network were optimized by genetic algorithm and the gait curves of CPG network planning were obtained by MATLAB simulation. Finally, based on ADAMS, the walking simulation of BRHL was carried out and the rationality of the gait planning of artificial leg by CPG network was verified.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Hualong Xie
AU  - Deming Zhao
AU  - Zheng Jia
AU  - Yuying Yang
PY  - 2016/11
DA  - 2016/11
TI  - Research on the Gait Planning of Artificial Leg Based on Central Pattern Generator
BT  - Proceedings of the 6th International Conference on Information Engineering for Mechanics and Materials
PB  - Atlantis Press
SP  - 236
EP  - 241
SN  - 2352-5401
UR  - https://doi.org/10.2991/icimm-16.2016.45
DO  - 10.2991/icimm-16.2016.45
ID  - Xie2016/11
ER  -