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Robot, device and a method for central pattern generator(CPG) based control of a movement of the robot
Robot, device and a method for central pattern generator(CPG) based control of a movement of the robot
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机译:机器人,设备和基于中央模式发生器(CPG)的机器人运动控制方法
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摘要
A robot, a method and a device for controlling a movement of a robot are provided. The method can include controlling multiple steps of the robot. Thus, the method can include multiple iterations of: (i) calculating or receiving a first slope attribute indicative of a slope of a first area of a terrain on which a first leg of the robot steps; (ii) feeding the first slope attribute to a central pattern generator (CPG); and (iii) generating, by the CPG and in response to the slope attribute, at least one control pulse for controlling a torque characteristic of a torque applied by at least one leg of the robot.
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