Quadruped robot motion control system based on eight-element neural network

• Main Authors: QU SHAOXING, LIU YIDE, LIU XIYAN
• Format: Patent
• Language: Chinese; English
• Published: 26.04.2024
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses a quadruped robot motion control system based on an eight-element neural network, and belongs to the field of quadruped robot motion control. The system comprises a signal regulation and control module used for generating gait control parameters; the signal generation module is used for receiving the gait control parameters generated by the signal regulation and control module, inputting the gait control parameters into an eight-element neural network, and respectively solving ordinary differential equations of eight neurons to obtain gait rhythm signals; and the signal post-processing module is used for receiving the gait rhythm signal solved in the signal generation module and converting the gait rhythm signal into a displacement signal for correspondingly controlling eight joints on four legs of the quadruped robot to act. According to the method, the rhythmicity of gaits of the central pattern generator and the phase relation of hip and knee joints are designed on the basis of the