Locomotion control of seven-link robot with CPG-ZMP
作者： Jing Yang , Jing Ning , Chengju Liu
DOI: 10.1109/CHICC.2016.7554055
关键词:
摘要: For the Central Pattern Generation (CPG) method, it is difficult to coordinate each Degree of Freedom (DoF) a robot by modulating parameters neutral network realize stable walking. The Zero Moment Point (ZMP) method popular in stability control biped However, reference trajectories have low energy efficiency, lack naturalness and require significant offline calculation. This paper designs for walking using hybrid CPG-ZMP algorithm, which can pattern combing ZMP information with rhythmic motion control. Also, algorithm elaborated systematically from aspects CPG model, construction feedback planar seven-link robot. simulation results show that enhances robot, system generate adaptive patterns through interaction among environment.
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