A novel hardware-efficient CPG model for a hexapod robot based on nonlinear dynamics of coupled asynchronous cellular automaton oscillators
A novel hardware-efficient CPG model for a hexapod robot based on nonlinear dynamics of coupled asynchronous cellular automaton oscillators
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DOI：
10.1109/ijcnn.2019.8852174
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发表时间：
2019-07
期刊：
影响因子：
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通讯作者：
Kentaro Takeda;H. Torikai
中科院分区：
文献类型：
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作者：
Kentaro Takeda;H. Torikai
提出了一种基于异步细胞自动机非线性动力学的中央模式发生器（CPG）模型。结果表明，所提出的CPG模型可以表现出各种同步现象，这取决于参数值。为了评估所提出的CPG模型的有用性，本文着重于控制六足机器人如图1所示。在深入分析同步现象的基础上，提出了一种实现六足机器人三足步态的参数整定方法。然后，CPG模型与调整参数值的现场可编程门阵列实现，它表明，CPG模型可以实现的六足机器人的三脚架步态。此外，它表明，所提出的CPG模型使用更少的电路元件，消耗更少的功率相比，传统的CPG模型。
This paper presents a novel central pattern generator (CPG) model based on nonlinear dynamics of asynchronous cellular automata. It is shown that the presented CPG model can exhibit various synchronization phenomena depending on parameter values. In order to evaluate usefulness of the presented CPG model, this paper focuses on controlling a hexapod robot shown in Fig. 1. Based on intensive analyses of the synchronization phenomena, a parameter tuning method to realize a tripod gait of the hexapod robot is derived. Then the CPG model with a tuned parameter value is implemented in a field programmable gate array and it is shown that the CPG model can realize a tripod gait of the hexapod robot. Also, it is shown that the presented CPG model uses much fewer circuit elements and consumes much less power compared to a conventional CPG model.