TY - JOUR
T1 - Legged robot design and Van der Pol oscillator based control approach
AU - Zaier, Riadh
AU - Eldirdiry, Omer
N1 - Funding Information:
The authors acknowledge The Research Council of Oman for their financial support of this study.
Publisher Copyright:
© 2021 Inderscience Enterprises Ltd.. All rights reserved.
PY - 2021
Y1 - 2021
N2 - It is widely accepted within the field of animal locomotion that the gait is generated by a central pattern generator (CPG), which is usually modelled as a nonlinear oscillator. This paper proposes a mechanical design of a bio-inspired legged robot with a passive toe joint, and proposes a control method based on the key characteristics of the CPG generating the rolling motion of the gait. The overall control system is set as a Van der Pol oscillator, and the controller is then deduced accordingly. The legged robot is modelled as an inverted pendulum with a few control parameters that can be tuned to modulate the rolling motion and make it adaptive along with the stride. The locomotion controller is structured so that the overall closed loop system exhibits a stable limit cycle. Finally, the validation of the simulation platform and the implementation results of the designed robot is reported.
AB - It is widely accepted within the field of animal locomotion that the gait is generated by a central pattern generator (CPG), which is usually modelled as a nonlinear oscillator. This paper proposes a mechanical design of a bio-inspired legged robot with a passive toe joint, and proposes a control method based on the key characteristics of the CPG generating the rolling motion of the gait. The overall control system is set as a Van der Pol oscillator, and the controller is then deduced accordingly. The legged robot is modelled as an inverted pendulum with a few control parameters that can be tuned to modulate the rolling motion and make it adaptive along with the stride. The locomotion controller is structured so that the overall closed loop system exhibits a stable limit cycle. Finally, the validation of the simulation platform and the implementation results of the designed robot is reported.
KW - biomechanical legs
KW - central pattern generator
KW - CPG
KW - limit cycle
KW - nonlinear controller
KW - Van der Pol oscillator
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U2 - 10.1504/IJMIC.2021.123375
DO - 10.1504/IJMIC.2021.123375
M3 - Article
AN - SCOPUS:85132105943
SN - 1746-6172
VL - 38
SP - 282
EP - 390
JO - International Journal of Modelling, Identification and Control
JF - International Journal of Modelling, Identification and Control
IS - 3-4
ER -