A Novel Biologically Inspired Neural Network and Its Application on the Locomotion Control of Quadruped Robot

DOI

10.2991/iiicec-15.2015.188How to use a DOI?

Keywords

CPG; Proprioception; reflex; locomotion; quadruped robot.

Abstract

This paper proposed a novel Biologically Inspired Neural Networks-central pattern generator (CPG) model with proprioceptive and reflex mechanism. It not only contains inner sensory information but also contains the information of the actuators and automatically tunes the parameter of CPG correspond to the actuators information and inner sensory information. The position of the joints linked directly with the output of CPG is introduced to the CPG to found its proprioceptive system, spontaneously making the robot can realize the actuator working status, furthermore changing CPG output to fit the change and decrease influence of the problematic joints or actuators on the robot controlled. The reflex mechanism can tune the CPG output to fit the environment to avoiding obstacle and adapting the ground. Its application on the locomotion control of a quadruped robot demonstrates the effectiveness of the proposed approach.

Copyright

© 2015, 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/).

Download article (PDF)

TY  - CONF
AU  - Lei Sun
AU  - Yan Cao
AU  - Dequan Zhu
PY  - 2015/03
DA  - 2015/03
TI  - A Novel Biologically Inspired Neural Network and Its Application on the Locomotion Control of Quadruped Robot
BT  - Proceedings of the 2015 International Industrial Informatics and Computer Engineering Conference
PB  - Atlantis Press
SP  - 841
EP  - 844
SN  - 2352-538X
UR  - https://doi.org/10.2991/iiicec-15.2015.188
DO  - 10.2991/iiicec-15.2015.188
ID  - Sun2015/03
ER  -