Evaluation and optimization of nonlinear central pattern generators for robotic locomotion

Elbori A., Turan M., Arıkan K. B.

Control Engineering and Applied Informatics, vol.20, no.3, pp.89-98, 2018 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 20 Issue: 3
  • Publication Date: 2018
  • Journal Name: Control Engineering and Applied Informatics
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.89-98
  • Keywords: Central Patterns Generators (CPGs), one leg model, a strategy to couple CPGs, stability analysis, optimizing CPGs, ADAPTIVE DYNAMIC WALKING, MULTI-LEGGED ROBOT, QUADRUPED ROBOT, BIPED ROBOT, CPG MODEL, SYSTEM
  • TED University Affiliated: Yes

Abstract

© 2018 Control Engineering and Applied Informatics Journal.With regard to the optimization of Central Pattern Generators (CPGs) for bipedal locomotion in robots, this paper investigates how the different cases of CPGs such as uncoupled, unidirectional, bidirectional two CPGs are used to produce rhythmic patterns for one leg with two degrees of freedom (DOF). This paper also discusses the stability analysis of CPGs and attempts to utilize genetic algorithms with the hybrid function and adapts the CPGs to robotic systems that perform one-leg movement, by utilizing the bidirectional two CPGs. The results show far greater improvement than in the other cases. CPGs not only enhance movement but also control locomotion without any sensory feedback.