The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning Control Algorithm

Cheng Wang; Jun Yao Gao; Xing Guang Duan; Yi Liu; Xin Li; Zhe Xu; Wen Tao Sun

doi:10.4028/www.scientific.net/AMR.677.296

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 677The CPG Gait Generate Method of the Quadruped...

The CPG Gait Generate Method of the Quadruped Robot Based on Iterative Learning Control Algorithm

Abstract:

Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.

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Periodical:

Advanced Materials Research (Volume 677)

Pages:

296-303

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.677.296

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Online since:

March 2013

Authors:

Cheng Wang, Jun Yao Gao, Xing Guang Duan, Yi Liu, Xin Li, Zhe Xu, Wen Tao Sun

Keywords:

CPG, Quadruped Bionic Robot, Repeated Iterative Learning, Walking Gait

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