CPG-based locomotion control of a quadruped robot with an active spine

Yunlong Lian; Tianyuan Wang; Joe Ingham; Mark Andrew Post; Andy Tyrrell

CPG-based locomotion control of a quadruped robot with an active spine

Yunlong Lian^*, Tianyuan Wang, Joe Ingham, Mark Andrew Post, Andy Tyrrell

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Central pattern generators (CPGs) are neural networks re-
sponsible for producing rhythmic behaviours and are commonly found in
both vertebrate and invertebrate animals. This paper proposes a novel
internal feedback mechanism for a CPG model designed to generate leg-
spine coordinated locomotion in a quadruped robot with an active spine.
This mechanism enables the CPG to independently control the frequency
and amplitude of the stance and swing durations while also modifying the
definition of stance and swing phases to generate more gaits. The CPG
model’s results are demonstrated on a simulated ”tensegrity quadruped
robot” called TQbot, which features a flexible spine with 3 degrees of
freedom (DOF). By adjusting the parameters, the CPG model can gen-
erate gaits with leg-spine coordination and uses the spine for turning.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems (TAROS) 2023 Conference
Editors	Fumiya Iida, Arsen Abdulali, Mingfeng Wang
Publisher	Springer
Publication status	Published - 15 Sept 2023
Event	24th Towards Autonomous Robotic Systems Conference (TAROS) - Cambridge, United Kingdom Duration: 13 Sept 2023 → 15 Sept 2023 https://taros-conference.org/

Conference

Conference	24th Towards Autonomous Robotic Systems Conference (TAROS)
Abbreviated title	TAROS
Country/Territory	United Kingdom
City	Cambridge
Period	13/09/23 → 15/09/23
Internet address	https://taros-conference.org/

Bibliographical note

This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy.

Access to Document

CPG_based_locomotion_control_of_a_quadruped_robot_with_an_active_spine_final
This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy.
Accepted author manuscript, 2.06 MBLicence: CC BY

Cite this

@inproceedings{6e135802d2c7469097c419708ec272ff,

title = "CPG-based locomotion control of a quadruped robot with an active spine",

abstract = "Central pattern generators (CPGs) are neural networks re-sponsible for producing rhythmic behaviours and are commonly found inboth vertebrate and invertebrate animals. This paper proposes a novelinternal feedback mechanism for a CPG model designed to generate leg-spine coordinated locomotion in a quadruped robot with an active spine.This mechanism enables the CPG to independently control the frequencyand amplitude of the stance and swing durations while also modifying thedefinition of stance and swing phases to generate more gaits. The CPGmodel{\textquoteright}s results are demonstrated on a simulated ”tensegrity quadrupedrobot” called TQbot, which features a flexible spine with 3 degrees offreedom (DOF). By adjusting the parameters, the CPG model can gen-erate gaits with leg-spine coordination and uses the spine for turning.",

author = "Yunlong Lian and Tianyuan Wang and Joe Ingham and Post, {Mark Andrew} and Andy Tyrrell",

note = "This is an author-produced version of the published paper. Uploaded in accordance with the University{\textquoteright}s Research Publications and Open Access policy. ; 24th Towards Autonomous Robotic Systems Conference (TAROS), TAROS ; Conference date: 13-09-2023 Through 15-09-2023",

year = "2023",

month = sep,

day = "15",

language = "English",

editor = "Fumiya Iida and Arsen Abdulali and Mingfeng Wang",

booktitle = "Towards Autonomous Robotic Systems (TAROS) 2023 Conference",

publisher = "Springer",

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url = "https://taros-conference.org/",

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TY - GEN

T1 - CPG-based locomotion control of a quadruped robot with an active spine

AU - Lian, Yunlong

AU - Wang, Tianyuan

AU - Ingham, Joe

AU - Post, Mark Andrew

AU - Tyrrell, Andy

N1 - This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy.

PY - 2023/9/15

Y1 - 2023/9/15

N2 - Central pattern generators (CPGs) are neural networks re-sponsible for producing rhythmic behaviours and are commonly found inboth vertebrate and invertebrate animals. This paper proposes a novelinternal feedback mechanism for a CPG model designed to generate leg-spine coordinated locomotion in a quadruped robot with an active spine.This mechanism enables the CPG to independently control the frequencyand amplitude of the stance and swing durations while also modifying thedefinition of stance and swing phases to generate more gaits. The CPGmodel’s results are demonstrated on a simulated ”tensegrity quadrupedrobot” called TQbot, which features a flexible spine with 3 degrees offreedom (DOF). By adjusting the parameters, the CPG model can gen-erate gaits with leg-spine coordination and uses the spine for turning.

AB - Central pattern generators (CPGs) are neural networks re-sponsible for producing rhythmic behaviours and are commonly found inboth vertebrate and invertebrate animals. This paper proposes a novelinternal feedback mechanism for a CPG model designed to generate leg-spine coordinated locomotion in a quadruped robot with an active spine.This mechanism enables the CPG to independently control the frequencyand amplitude of the stance and swing durations while also modifying thedefinition of stance and swing phases to generate more gaits. The CPGmodel’s results are demonstrated on a simulated ”tensegrity quadrupedrobot” called TQbot, which features a flexible spine with 3 degrees offreedom (DOF). By adjusting the parameters, the CPG model can gen-erate gaits with leg-spine coordination and uses the spine for turning.

M3 - Conference contribution

BT - Towards Autonomous Robotic Systems (TAROS) 2023 Conference

A2 - Iida, Fumiya

A2 - Abdulali, Arsen

A2 - Wang, Mingfeng

PB - Springer

T2 - 24th Towards Autonomous Robotic Systems Conference (TAROS)

Y2 - 13 September 2023 through 15 September 2023

ER -