title: Gait Planning and Stability Control of a Quadruped Robot.
abstract: In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot's gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot's movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.
authors.affiliation: School of Mechanical Engineering, Xihua University, No. 999 Jinzhou Road, Jinniu District, Chengdu, Sichuan, China.
authors.forename: Junmin
authors.initials: J
authors.lastname: Li
authors.affiliation: School of Mechanical Engineering, Xihua University, No. 999 Jinzhou Road, Jinniu District, Chengdu, Sichuan, China.
authors.forename: Jinge
authors.initials: J
authors.lastname: Wang
authors.affiliation: Advanced Robotics and Intelligent Systems Laboratory, School of Engineering, University of Guelph, Guelph, ON, Canada N1G 2W1.
authors.forename: Simon X
authors.initials: SX
authors.lastname: Yang
authors.affiliation: School of Mechanical Engineering, Xihua University, No. 999 Jinzhou Road, Jinniu District, Chengdu, Sichuan, China.
authors.forename: Kedong
authors.initials: K
authors.lastname: Zhou
authors.affiliation: School of Mechanical Engineering, Xihua University, No. 999 Jinzhou Road, Jinniu District, Chengdu, Sichuan, China.
authors.forename: Huijuan
authors.initials: H
authors.lastname: Tang
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D005684:Gait; D008962:Models, Theoretical; D012371:Robotics / Q000379:methods