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WCPG: A Central Pattern Generator for Legged Robots Based on Workspace Intentions

[+] Author Affiliations
Victor Barasuol, Victor Juliano De Negri, Edson Roberto De Pieri

Federal University of Santa Catarina, Florianópolis, SC, Brazil

Paper No. DSCC2011-6164, pp. 111-114; 4 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME


In this paper it is proposed a central pattern generator (CPG) based on workspace intentions, where the parameters of modulation have physical meaning and the walking can be adapted to overcome irregular terrains by changing few parameters. The walking features are independently modulated since there is no coupling relationship among WCPG parameters. Simulation results are presented to demonstrate the WCPG performance for a simplified quadruped robot model in different terrains.

Copyright © 2011 by ASME
Topics: Robots , Generators



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