| Autor: |
Kifah Helal, Ahed Albadin, Chadi Albitar, Michel Alsaba |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
Heliyon, Vol 10, Iss 11, Pp e31847- (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2405-8440 |
| DOI: |
10.1016/j.heliyon.2024.e31847 |
| Popis: |
—This paper presents a new control methodology for achieving smooth gait transitions for a hexapod robot using Central Pattern Generators (CPGs). The approach involves modifying the Phase Oscillator within the CPG network to enable smooth transitions between different gaits in order to improve the adaptability to changing environmental conditions. The foot trajectory generator is designed based on the CPG output, allowing the possibility of online adjustment of foot trajectory parameters, such as step height and size, as well as the robot's speed and direction. Our simulation demonstrates the effectiveness of the modified oscillator in achieving smoother gait transitions with a transition time falls close to the output period of the CPG oscillators, and experiments on a real hexapod robot validate the feasibility and efficiency of our approach in considering online adjustability of trajectory parameters, confirming the potential of this methodology to enhance the locomotion capabilities of legged robots for navigating complex terrains. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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