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Motion Control of a Gecko-like Robot Based on a Central Pattern Generator
To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each jo...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8473384/ https://www.ncbi.nlm.nih.gov/pubmed/34577251 http://dx.doi.org/10.3390/s21186045 |
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author | Han, Qing Cao, Feixiang Yi, Peng Li, Tiancheng |
author_facet | Han, Qing Cao, Feixiang Yi, Peng Li, Tiancheng |
author_sort | Han, Qing |
collection | PubMed |
description | To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented. |
format | Online Article Text |
id | pubmed-8473384 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-84733842021-09-28 Motion Control of a Gecko-like Robot Based on a Central Pattern Generator Han, Qing Cao, Feixiang Yi, Peng Li, Tiancheng Sensors (Basel) Article To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented. MDPI 2021-09-09 /pmc/articles/PMC8473384/ /pubmed/34577251 http://dx.doi.org/10.3390/s21186045 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Han, Qing Cao, Feixiang Yi, Peng Li, Tiancheng Motion Control of a Gecko-like Robot Based on a Central Pattern Generator |
title | Motion Control of a Gecko-like Robot Based on a Central Pattern Generator |
title_full | Motion Control of a Gecko-like Robot Based on a Central Pattern Generator |
title_fullStr | Motion Control of a Gecko-like Robot Based on a Central Pattern Generator |
title_full_unstemmed | Motion Control of a Gecko-like Robot Based on a Central Pattern Generator |
title_short | Motion Control of a Gecko-like Robot Based on a Central Pattern Generator |
title_sort | motion control of a gecko-like robot based on a central pattern generator |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8473384/ https://www.ncbi.nlm.nih.gov/pubmed/34577251 http://dx.doi.org/10.3390/s21186045 |
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