Workspace trajectory generation with smooth gait transition using CPG-based locomotion control for hexapod robot

—This paper presents a new control methodology for achieving smooth gait transitions for a hexapod robot using Central Pattern Generators (CPGs). The approach involves modifying the Phase Oscillator within the CPG network to enable smooth transitions between different gaits in order to improve the a...

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Autors principals:	Kifah Helal, Ahed Albadin, Chadi Albitar, Michel Alsaba
Format:	Artigo
Idioma:	Inglês
Publicat:	Elsevier 2024-06-01
Col·lecció:	Heliyon
Matèries:	CPG (Central Pattern Generators) Mobile robots Hexapod robot Gait transition Foot trajectory Online adjustability
Accés en línia:	http://www.sciencedirect.com/science/article/pii/S2405844024078782
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