Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot
he Central Pattern Generators (CPGs) are becoming a popular method as the alternative control mechanism replacing the conventional trajectory-based method for designing the locomotion gait of mobile robot nowadays. CPG is described as a set of neural networks that have the ability to produce rhyth...
| Main Authors: | , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/29314/ http://irep.iium.edu.my/29314/1/Van_Der_Pol.pdf |
| _version_ | 1848780101096833024 |
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| author | Jasni, Farahiyah Shafie, Amir Akramin |
| author_facet | Jasni, Farahiyah Shafie, Amir Akramin |
| author_sort | Jasni, Farahiyah |
| building | IIUM Repository |
| collection | Online Access |
| description | he Central Pattern Generators (CPGs) are becoming a popular
method as the alternative control mechanism replacing the conventional trajectory-based method for designing the locomotion gait of mobile robot nowadays. CPG is described as a set of neural networks that have the ability to
produce rhythmic movements, such as walking, swimming and flying without intervention from the sensory inputs and higher level control. This paper aims to highlight the efficiency of the biologically inspired, VDP-CPG based control method in modelling the walking gait for a quadruped robot. A new approach of VDP-CPG based walking gait model is developed in which 3-D foot trajectories are generated by mapping the output from CPG. The simulated foot trajectories of the CPG-based control and conventional trajectory-based method are compared to confirm the performance. |
| first_indexed | 2025-11-14T15:28:19Z |
| format | Proceeding Paper |
| id | iium-29314 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:28:19Z |
| publishDate | 2012 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-293142013-03-05T03:08:07Z http://irep.iium.edu.my/29314/ Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot Jasni, Farahiyah Shafie, Amir Akramin TA Engineering (General). Civil engineering (General) he Central Pattern Generators (CPGs) are becoming a popular method as the alternative control mechanism replacing the conventional trajectory-based method for designing the locomotion gait of mobile robot nowadays. CPG is described as a set of neural networks that have the ability to produce rhythmic movements, such as walking, swimming and flying without intervention from the sensory inputs and higher level control. This paper aims to highlight the efficiency of the biologically inspired, VDP-CPG based control method in modelling the walking gait for a quadruped robot. A new approach of VDP-CPG based walking gait model is developed in which 3-D foot trajectories are generated by mapping the output from CPG. The simulated foot trajectories of the CPG-based control and conventional trajectory-based method are compared to confirm the performance. 2012 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/29314/1/Van_Der_Pol.pdf Jasni, Farahiyah and Shafie, Amir Akramin (2012) Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot. In: 1st International Conference on Intelligent Robotics, Automation and Manufacturing (IRAM) 2012, 28-30th November 2012, Kuala Lumpur. |
| spellingShingle | TA Engineering (General). Civil engineering (General) Jasni, Farahiyah Shafie, Amir Akramin Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot |
| title | Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot |
| title_full | Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot |
| title_fullStr | Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot |
| title_full_unstemmed | Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot |
| title_short | Van Der Pol Central Pattern Generator (VDP-CPG) model for quadruped robot |
| title_sort | van der pol central pattern generator (vdp-cpg) model for quadruped robot |
| topic | TA Engineering (General). Civil engineering (General) |
| url | http://irep.iium.edu.my/29314/ http://irep.iium.edu.my/29314/1/Van_Der_Pol.pdf |