Locomotion control of quadruped robots based on workspace trajectory modulations

• Main Authors: Wang, Danwei, Liu, Chengju J., Chen, Qijun J.
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/106168; http://hdl.handle.net/10220/26361; http://dx.doi.org/10.2316/Journal.206.2012.4.206-3560
• Institution: Nanyang Technological University

Designing an effective motion control for legged robots is a challenging task. Inspired by biological concept of central pattern generator, this paper proposes a locomotion control system consisting of a workspace trajectory modulator and a motion engine. The modulator adjusts swinging phase and sup...