Research on the Gait Planning of Artificial Leg Based on Central Pattern Generator
- https://doi.org/10.2991/icimm-16.2016.45How to use a DOI?
- Central Pattern Generator (CPG); Artificial Leg; Gait Planning; Genetic Algorithm
To achieve the artificial leg of biped robot with heterogeneous legs (BRHL) humanoid walking, the gait planning of artificial leg was researched in this paper based on central pattern generator (CPG). Firstly, the hopf oscillator was analyzed and applied to build the CPG network. Then, the parameters of CPG network were optimized by genetic algorithm and the gait curves of CPG network planning were obtained by MATLAB simulation. Finally, based on ADAMS, the walking simulation of BRHL was carried out and the rationality of the gait planning of artificial leg by CPG network was verified.
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Hualong Xie AU - Deming Zhao AU - Zheng Jia AU - Yuying Yang PY - 2016/11 DA - 2016/11 TI - Research on the Gait Planning of Artificial Leg Based on Central Pattern Generator BT - Proceedings of the 6th International Conference on Information Engineering for Mechanics and Materials PB - Atlantis Press SP - 236 EP - 241 SN - 2352-5401 UR - https://doi.org/10.2991/icimm-16.2016.45 DO - https://doi.org/10.2991/icimm-16.2016.45 ID - Xie2016/11 ER -