Abstract
Motion control based on biologically inspired methods, such as Central Pattern Generator (CPG) models, offers a promising technique for robot control. However, for a quadruped robot which needs to maintain balance while performing flexible movements, this technique often requires a complicated nonlinear oscillator to build a controller, and it is difficult to achieve agility by merely modifying the predefined limit cycle in real time. In this study, we tried to solve this problem by constructing a multi-module controller based on CPG. The different parallel modules will ensure the dynamic stability and agility of walking. In the proposed controller, a specific control task is accomplished by adding basic and superposed motions. The basic motions decide the basic foot end trajectories, which are generated by the predefined limit cycle of the CPG model. According to conventional kinematics-based design, the superposed motions are generated through different modules alter the basic foot end trajectories to maintain balance and increase agility. As a considerable stability margin can be achieved, different modules are designed separately. The proposed CPG-based controller is capable of stabilizing a walking quadruped robot and performing start and stop movements, turning, lateral movement and reversal in real time. Experiments and simulations demonstrate the effectiveness of the method.
Similar content being viewed by others
References
Ijspeert A J. Central pattern generator for locomotion control in animals and robots: A review. Neural Networks, 2008, 21, 642–653.
Marder E, Bucher D. Central pattern generators and the control of rhythmic movements. Current Biology, 2001, 11, 986–996.
Pikovsky A, Rosenblum M, Kurths J U R. Synchronization: A Universal Concept in Nonlinear Sciences, Cambridge University Press, New York, USA, 2003.
Yu J Z, Wu Z X, Wang M, Tan M. CPG network optimization for a biomimetic robotic fish via PSO. IEEE Transactions on Neural Networks and Learning Systems, 2016, 27, 1962–1968.
Kimura H, Fukuoka Y, Cohen A H. Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts. The International Journal of Robotics Research, 2007, 26, 475–490.
Kimura H, Fukuoka Y, Cohen A H. Biologically inspired adaptive walking of a quadruped robot. Philosophical Transactions of the Royal Society of London A: Mathematical, Physical and Engineering Sciences, 2007, 365, 153–170.
Tran D T, Koo I M, Lee Y H, Moon H, Park S, Koo J C, Choi H R. Central pattern generator based reflexive control of quadruped walking robots using a recurrent neural network. Robotics and Autonomous Systems, 2014, 62, 1497–1516.
Liu C J, Xia L, Zhang C Z, Chen Q J. Multi-layered CPG for adaptive walking of quadruped robots. Journal of Bionic Engineering, 2018, 15, 341–355.
Zeng Y Q, Li J M, Yang S X, Ren E. A Bio-inspired control strategy for locomotion of a quadruped robot. Applied Sciences, 2018, 8, 56.
Zhou C L, Wang B X, Zhu Q G, Wu J. An online gait generator for quadruped walking using motor primitives. International Journal of Advanced Robotic Systems, 2016, 13, 1–12.
Sprowitz A, Tuleu A, Vespignani M, Ajallooeian M, Badri E, Ijspeert A J. Towards dynamic trot gait locomotion: Design, control, and experiments with cheetah-cub, a compliant quadruped robot. International Journal of Robotics Research, 2013, 32, 932–950.
Zhou C, Low K H. Design and locomotion control of a biomimetic underwater vehicle with fin propulsion. IEEE-ASME Transactions on Mechatronics, 2012, 17, 25–35.
Righetti L, Ijspeert A J. Pattern generators with sensory feedback for the control of quadruped locomotion. International Conference on Robotics and Automation, Pasadena, USA, 2008, 819–824.
Liu Q Y, Chen X D, Han B, Luo Z W, Luo X. Virtual constraint based control of bounding gait of quadruped robots. Journal of Bionic Engineering, 2017, 14, 218–231.
Focchi M, Del Prete A, Havoutis I, Featherstone R, Caldwell D G, Semini C. High-slope terrain locomotion for torque-controlled quadruped robots. Autonomous Robots, 2017, 41, 259–272.
Hyun D J, Lee J, Park S, Kim S. Implementation of trot-to-gallop transition and subsequent gallop on the MIT Cheetah I. The International Journal of Robotics Research, 2016, 35, 1627–1650.
Vukobratovic M, Borovac B. Zero-moment point — Thirty five years of its life. International Journal of Humanoid Robotics, 2004, 1, 157–173.
Kajita S, Kanehiro F, Kaneko K, Fujiwara K. Biped walking pattern generation by using preview control of zero-moment point. International Conference on Robotics and Automation, Taipei, Taiwan, 2003, 1620–1626.
Semini C, Tsagarakis N G, Guglielmino E, Focchi M, Cannella F, Caldwell D G. Design of HyQ - A hydraulically and electrically actuated quadruped robot. Proceedings of the Institution of Mechanical Engineers PART I Journal of Systems and Control Engineering, 2011, 225, 831–849.
Winkler A W, Mastalli C, Havoutis I, Focchi M, Caldwell D G, Semini C. Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain. IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015, 5148–5154.
Kalakrishnan M, Buchli J, Pastor P, Mistry M, Schaal S. Learning, planning, and control for quadruped locomotion over challenging terrain. The International Journal of Robotics Research, 2011, 30, 236–258.
Barasuol V, Buchli J, Semini C, Frigerio M, De Pieri E R, Caldwell D G. A reactive controller framework for quadrupedal locomotion on challenging terrain. International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, 2554–2561.
Barasuol V, De Negri V J, De Pieri E R. WCPG: A central pattern generator for legged robots based on workspace intentions. ASME Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Arlington, USA, 2011, 111–114.
Ijspeert A J, Nakanishi J, Hoffmann H, Pastor P, Schaal S. Dynamical movement primitives: Learning attractor models for motor behaviors. Neural Computation, 2013, 25, 328–373.
Ajallooeian M, Kieboom J V D, Mukovskiy A, Giese M A, Ijspeert A J. A general family of morphed nonlinear phase oscillators with arbitrary limit cycle shape. Physica D, 2013, 263, 41–56.
Degallier S, Ijspeert A J. Modeling discrete and rhythmic movement through motor primitives: A review. Biological Cybernetics, 2010, 103, 319–338.
Kajita S, Hirukawa H, Yokoi K, Harada K. Introduction to Humanoid Robotics, Springer, Berlin, Germany, 2014.
Hyun D J, Seok S, Lee J, Kim S. High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the mit cheetah. The International Journal of Robotics Research, 2014, 33, 1417–1445.
Michel O. WebotsTM: Professional mobile robot simulation. International Journal of Advanced Robotic Systems, 2004, 1, 39–42.
Acknowledgement
The authors acknowledge financial support from the Zhejiang Provincial Natural Science Foundation of China (Y18F030012), the Natural Science Foundation of China (61836015), the Qingdao National Laboratory for Marine Science and Technology (2017WHZZB0302) and the State Key Laboratory of Industrial Control Technology, China (ICT1807).
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Wang, B., Wan, Z., Zhou, C. et al. A Multi-module Controller for Walking Quadruped Robots. J Bionic Eng 16, 253–263 (2019). https://doi.org/10.1007/s42235-019-0021-8
Published:
Issue Date:
DOI: https://doi.org/10.1007/s42235-019-0021-8