Smooth gait transition in hardware-efficient CPG model based on asynchronous coupling of cellular automaton phase oscillators
Smooth gait transition in hardware-efficient CPG model based on asynchronous coupling of cellular automaton phase oscillators
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DOI：
10.1587/nolta.12.336
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发表时间：
2021
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
本文提出了一种基于元胞自动机（CA）相位振荡器异步耦合的六足机器人中央模式发生器（CPG）模型。提出的CPG模型由CA相位振荡器组成，其离散状态转换由多个异步时钟触发。然后，评估功能，以量化同步状态的目标步态模式在CPG模型。使用评价函数分析同步，本文阐明了所提出的CPG模型比其离散状态转换由单个时钟触发的CPG模型更适合于执行六足机器人的平滑步态转换（即，同步耦合）。提出的CPG模型在现场可编程门阵列（FPGA）中实现;实验验证了安装有FPGA的六足机器人，其中提出的CPG模型实现，可以执行平滑的步态过渡。
: In this paper, a central pattern generator (CPG) model based on asynchronous coupling of cellular automaton (CA) phase oscillators for a hexapod robot is presented. The presented CPG model is composed of the CA phase oscillators whose discrete state transitions are triggered by multiple asynchronous clocks. Then, evaluation functions to quantify synchronization states for target gait patterns in the presented CPG model are introduced. Analyzing the synchronizations using the evaluation functions, this paper clarifies that the presented CPG model is suitable to perform smooth gait transitions for the hexapod robot than a CPG model whose discrete state transitions are triggered by a single clock (i.e., synchronous coupling). The presented CPG model is implemented in a field programmable gate array (FPGA); experiments verify that the hexapod robot mounted with the FPGA, in which the presented CPG model is implemented, can perform smooth gait transitions.