Smooth gait transition in hardware-efficient CPG model based on asynchronous coupling of cellular automaton phase oscillators

• Takeda Kentaro

  Graduate School of Science and Engineering, Hosei University

• Torikai Hiroyuki

  Graduate School of Science and Engineering, Hosei University

抄録

In this paper, a central pattern generator (CPG) model based on asynchronous coupling of cellular automaton (CA) phase oscillators for a hexapod robot is presented. The presented CPG model is composed of the CA phase oscillators whose discrete state transitions are triggered by multiple asynchronous clocks. Then, evaluation functions to quantify synchronization states for target gait patterns in the presented CPG model are introduced. Analyzing the synchronizations using the evaluation functions, this paper clarifies that the presented CPG model is suitable to perform smooth gait transitions for the hexapod robot than a CPG model whose discrete state transitions are triggered by a single clock (i.e., synchronous coupling). The presented CPG model is implemented in a field programmable gate array (FPGA); experiments verify that the hexapod robot mounted with the FPGA, in which the presented CPG model is implemented, can perform smooth gait transitions.

収録刊行物

• Nonlinear Theory and Its Applications, IEICE

  Nonlinear Theory and Its Applications, IEICE 12 (3), 336-355, 2021

  一般社団法人 電子情報通信学会

キーワード

• central pattern generator (CPG)
• smooth gait transition
• asynchronous cellular automaton
• hexapod robot
• field programmable gate array (FPGA)

詳細情報

• CRID: 1390288547260772992
• NII論文ID: 130008060808
• DOI: 10.1587/nolta.12.336
• ISSN: 21854106
• Web Site: https://www.jstage.jst.go.jp/article/nolta/12/3/12_336/_pdf
• 本文言語コード: en
• データソース種別:
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  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可