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Two-Dimensional Moving Control of Quadruped Hopping Robot Using Adaptive CPG Networks.

Anuar , Mohamed Kassim (2009) Two-Dimensional Moving Control of Quadruped Hopping Robot Using Adaptive CPG Networks. In: 2009 The Section of Electronic, Information and System of National Meeting Record of The Institute of Electrical and Related Engineers, Tokushima•Japan, 4 Sept 2009, Tokushima, Japan.

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Abstract

In this paper, we discuss on the generation of moving control for our developed quadruped hopping robot while jumping continuously. We approached the method which we used the reference height control system to conduct the differences of reference height for each leg of quadruped hopping robot. By using the approach method, the posture of quadruped hopping robot will incline ahead to the direction which it wants to move. On the other hand, we evaluate the effectiveness of Central Pattern Generator (CPG) network to keep the stability of quadruped hopping robot and avoiding it from tumble ahead. We used MATLAB/Simulink model to generate the moving control in various type of motion. As the result, we confirmed the effectiveness of approach method to generate moving control of quadruped hopping robot while making continuous jumping, respectively.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > T Technology (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Electrical Engineering > Department of Mechatronics Engineering
Depositing User: Mr Anuar Mohamed Kassim
Date Deposited: 18 Feb 2013 10:23
Last Modified: 28 May 2015 03:44
URI: http://eprints.utem.edu.my/id/eprint/6724

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