Pattern generators with sensory feedback for the control of quadruped locomotion

— Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of designing such CPGs as artificial neural networks or systems of coupled oscillators with sensory feedback inclusion is still missing. In this contribution, we present a way of designing CPGs with coupled oscillators in which we can independently control the ascending and descending phases of the oscillations (i.e. the swing and stance phases of the limbs). Using insights from dynamical system theory, we construct generic networks of oscillators able to generate several gaits under simple parameter changes. Then we introduce a systematic way of adding sensory feedback from touch sensors in the CPG such that the controller is strongly coupled with the mechanical system it controls. Finally we control three different simulated robo...

• Type: Conference
• Year: 2008
• Where: ICRA
• Authors: Ludovic Righetti, Auke Jan Ijspeert
• Keywords: CPGs, ICRA 2008, Neural Networks, Robotics, Sensory Feedback