基于Wilson-Cowan神经振荡器的四足机器人步态规划研究

Study of quadruped robot gait planning based on Wilson-Cowan neural oscillators

中枢模式发生器(central pattern generator,CPG)是一种重要的机器人节律运动控制方法。在Wilson-Cowan神经振荡器基础上,提出了一种新的CPG控制器,用于四足机器人的节律运动控制,每个Wilson-Cowan神经振荡器分别对应机器人的一个步行腿,对机器人的腿进行协调运动控制。通过调整振荡器之间的步态连接权矩阵,可以实现机器人不同的节律运动和各种运动模式间的转换。计算机仿真表明:本文提出的CPG控制方法能够稳定的生成不同步态的机器人运动轨迹,输出结果能够较好地符合各种步态的相位要求。

The central pattern generator （CPG） is a very important method for the control of robotic rhythmic locomotion. Based on the Wilson-Cowan neural oscillator, a new CPG controller for quadruped robot rhythmic locomotion control was presented. Each Wilson-Cowan neural oscillator was responsible for controlling the motion of an individual leg, and the harmony motion of one leg with the others was controlled with four Wilson-Cowan neural oscillators. By replacing the gait matrix of neural oscillators, some different rhythmic locomotion models and switching between the models can be generated. Simulation results show that the presented CPG controller can generate different robotic gaits, and the gaits satisfy the phase demand.