Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approach

Detalhes bibliográficos
Autor(a) principal: Campos, R.
Data de Publicação: 2010
Outros Autores: Matos, Vítor, Oliveira, Miguel, Santos, Cristina
Idioma: eng
Título da fonte: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Texto Completo: http://hdl.handle.net/1822/17583
Resumo: The capacity of walking in a wide variety of terrains is one of the most important features of hexapod insects. In this paper we describe a bio-inspired controller able to generate locomotion and reproduce the different type of gaits for an hexapod robot. Motor patterns are generated by coupled Central Pattern Generators, formulated as nonlinear oscillators. In order to demonstrate the robustness of the controller we developed a simulation model of the real Chiara hexapod robot where are described the most important steps of its development. Results were performed in simulation using the developed model of the Chiara hexapod robot.
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spelling Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approachBio controlMobile robotsNonlinear control systemsRobot dynamicsRobot programmingThe capacity of walking in a wide variety of terrains is one of the most important features of hexapod insects. In this paper we describe a bio-inspired controller able to generate locomotion and reproduce the different type of gaits for an hexapod robot. Motor patterns are generated by coupled Central Pattern Generators, formulated as nonlinear oscillators. In order to demonstrate the robustness of the controller we developed a simulation model of the real Chiara hexapod robot where are described the most important steps of its development. Results were performed in simulation using the developed model of the Chiara hexapod robot.Universidade do MinhoCampos, R.Matos, VítorOliveira, MiguelSantos, Cristina2010-092010-09-01T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/17583enginfo:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2024-05-11T06:03:37Zoai:repositorium.sdum.uminho.pt:1822/17583Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T15:39:34.603535Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approach
title Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approach
spellingShingle Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approach
Campos, R.
Bio control
Mobile robots
Nonlinear control systems
Robot dynamics
Robot programming
title_short Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approach
title_full Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approach
title_fullStr Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approach
title_full_unstemmed Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approach
title_sort Gait generation for a simulated hexapod robot : a nonlinear dynamical systems approach
author Campos, R.
author_facet Campos, R.
Matos, Vítor
Oliveira, Miguel
Santos, Cristina
author_role author
author2 Matos, Vítor
Oliveira, Miguel
Santos, Cristina
author2_role author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Campos, R.
Matos, Vítor
Oliveira, Miguel
Santos, Cristina
dc.subject.por.fl_str_mv Bio control
Mobile robots
Nonlinear control systems
Robot dynamics
Robot programming
topic Bio control
Mobile robots
Nonlinear control systems
Robot dynamics
Robot programming
description The capacity of walking in a wide variety of terrains is one of the most important features of hexapod insects. In this paper we describe a bio-inspired controller able to generate locomotion and reproduce the different type of gaits for an hexapod robot. Motor patterns are generated by coupled Central Pattern Generators, formulated as nonlinear oscillators. In order to demonstrate the robustness of the controller we developed a simulation model of the real Chiara hexapod robot where are described the most important steps of its development. Results were performed in simulation using the developed model of the Chiara hexapod robot.
publishDate 2010
dc.date.none.fl_str_mv 2010-09
2010-09-01T00:00:00Z
dc.type.driver.fl_str_mv conference paper
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dc.identifier.uri.fl_str_mv http://hdl.handle.net/1822/17583
url http://hdl.handle.net/1822/17583
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
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dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
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repository.mail.fl_str_mv info@rcaap.pt
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