Open Science Research Excellence
%0 Journal Article
%A Valeri A. Makarov and  Ezequiel Del Rio and  Manuel G. Bedia and  Manuel G. Velarde and  Werner Ebeling
%D 2008 
%J  International Journal of Electrical, Computer, Energetic, Electronic and Communication Engineering
%B World Academy of Science, Engineering and Technology
%I International Science Index 15, 2008
%T Central Pattern Generator Incorporating the Actuator Dynamics for a Hexapod Robot
%U http://waset.org/publications/10712
%V 15
%X We proposed the use of a Toda-Rayleigh ring as a
central pattern generator (CPG) for controlling hexapodal robots. We
show that the ring composed of six Toda-Rayleigh units coupled to
the limb actuators reproduces the most common hexapodal gaits. We
provide an electrical circuit implementation of the CPG and test our
theoretical results obtaining fixed gaits. Then we propose a method
of incorporation of the actuator (motor) dynamics in the CPG. With
this approach we close the loop CPG – environment – CPG, thus
obtaining a decentralized model for the leg control that does not
require higher level intervention to the CPG during locomotion in
a nonhomogeneous environments. The gaits generated by the novel
CPG are not fixed, but adapt to the current robot bahvior.
%P 498 - 503