Abstract
There were various gait generation and motion control methods implemented on humanoid robot, while research on humanoid robot crawling and control seems to be litter. In this paper, we establish the CPG model based on Hopf oscillator and get the trajectory of each joint when the robot crawls. Compared with the traditional CPG method, we use the layered and coupled method to establish the CPG expression of robot joint, which reduces the whole amount of computation. In order to correct the problem of the robot’s climbing deviation, we simplified the robot above the waist joint into an inverted pendulum model, and established a position controller to make the robot crawl forward after being disturbed. To increase the robot’s ability to adapt to different environment, we established a compliance control model for the robot’s arm and estimated the force generated when the robot’s arm collided with the ground. Finally, we performed crawling experiments outdoors, the results show that the robot can pass through an environment with a fluctuation height of 3 cm.
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Acknowledgement
This work was supported in part by the National Natural Science Foundation of China under Grant 91748202, Grant 61973039, the Beijing Municipal Science and Technology Project under Grant Z191100008019003. The author is very grateful to the teachers and researchers for their help.
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Zuo, W., Gao, G., Cao, J., Mu, T., Bi, Y. (2022). Crawling Trajectory Generation of Humanoid Robot Based on CPG and Control. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_41
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DOI: https://doi.org/10.1007/978-3-031-13835-5_41
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