A chopper-type mixed gait controller based on ergodic cellular automaton central pattern generator

被引：0
|
作者：
Kamitoko, Jumpei [1 ]
Torikai, Hiroyuki [1 ]
机构：
[1] Hosei Univ, Grad Sch Sci & Engn, Tokyo, Japan
来源：
2023 20TH INTERNATIONAL SOC DESIGN CONFERENCE, ISOCC | 2023年
关键词：
Central Pattern Generator; quadruped robot; FPGA;
D O I：
10.1109/ISOCC59558.2023.10396504
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
Here, we designed an extended ergodic cellular automaton model of a central pattern generator. The designed model is able to synthesize the phenomena of synchronization, which is able to realize standard gaits of a quadruped robot. We show that the mixing of the coupling matrices on the basis of the chopper-like method has the following properties, the designed model is able to achieve mixed gaits for the quadruped robot based on the matrix ratios in the chopper.
引用
收藏
页码：231 / 232
页数：2
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