Adaptive walking control for quadruped robot by using oscillation patterns
Abstract To improve the adaptability of quadruped robot in multiple scenarios, an adaptive locomotive system based on the double-layered central pattern generator (CPG) is proposed. The novel CPG network consists of double master units and subsets of slave units based on gyroscope signals including...
Main Authors: | , , , , |
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Format: | Article |
Language: | English |
Published: |
Nature Portfolio
2023-11-01
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Series: | Scientific Reports |
Online Access: | https://doi.org/10.1038/s41598-023-47022-x |