Central pattern generators augmented with virtual model control for quadruped rough terrain locomotion

2013

Conference Paper

dlg

We present a modular controller for quadruped locomotion over unperceived rough terrain. Our approach is based on a computational Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators. Stumbling correction reflex is implemented as a sensory feedback mechanism affecting the CPG. We augment the outputs of the CPG with virtual model control torques responsible for posture control. The control strategy is validated on a 3D forward dynamics simulated quadruped robot platform of about the size and weight of a cat. To demonstrate the capabilities of the proposed approach, we perform locomotion over unperceived uneven terrain and slopes, as well as situations facing external pushes.

@inproceedings{ajallooeian2013central,
  title = {Central pattern generators augmented with virtual model control for quadruped rough terrain locomotion},
  author = {Ajallooeian, Mostafa and Pouya, Soha and Spr{\"o}witz, Alexander and Ijspeert, Auke J},
  booktitle = {Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {3321--3328},
  publisher = {IEEE},
  address = {Karlsruhe},
  year = {2013},
  doi = {10.1109/ICRA.2013.6631040}
}