CPG-based Control System for Foot Locomotion of Gecko-inspired Robot

In this paper, a CPG-based hierarchical control system for the gecko-inspired robot is proposed to accomplish the detachment and attachment movements and to realize crossing obstacles. We designed a CPG nervous network with feedback connection, which can produce adaptive patterns for extra environments. Simulations were carried out to test the system's realization. Experiments show that the control strategy is feasible and make it easier for the robot to attach and detach.

[1]  R. Full,et al.  Adhesive force of a single gecko foot-hair , 2000, Nature.

[2]  Xiaodong Wu,et al.  CPG-based control of serpentine locomotion of a snake-like robot ☆ , 2010 .

[3]  Ju-Jang Lee,et al.  Gait adaptation method of biped robot for various terrains using central pattern generator (CPG) and learning mechanism , 2007, 2007 International Conference on Control, Automation and Systems.

[4]  Ce Guo,et al.  Locomotion Elicited by Electrical Stimulation in the Midbrain of the Lizard Gekko gecko , 2009, Intelligent Unmanned Systems.

[5]  R. Full,et al.  Evidence for van der Waals adhesion in gecko setae , 2002, Proceedings of the National Academy of Sciences of the United States of America.

[6]  K. Kendall Thin-film peeling-the elastic term , 1975 .

[7]  Yasuhiro Fukuoka,et al.  Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts , 2003, Int. J. Robotics Res..

[8]  Guo Ce,et al.  Study on the regulation and Control Mechanism of the Gecko's Toes , 2006 .

[9]  Ce Guo,et al.  Divisional and hierarchical innervations of G. gecko’s toes to motion and reception , 2009 .

[10]  Chengju Liu,et al.  Locomotion control of quadruped robots based on central pattern generators , 2011, 2011 9th World Congress on Intelligent Control and Automation.

[11]  Kiyotoshi Matsuoka,et al.  Sustained oscillations generated by mutually inhibiting neurons with adaptation , 1985, Biological Cybernetics.

[12]  Guan,et al.  Design and Analysis of Gecko-like Robot , 2011 .

[13]  Jong-Hwan Kim,et al.  Locomotion generator for robotic fish using an evolutionary optimized central pattern generator , 2010, 2010 IEEE International Conference on Robotics and Biomimetics.

[14]  Wang Wenbo,et al.  Locomotion Elicited by Electrical Stimulation in the Midbrain of the Lizard Gekko gecko , 2009 .