The previous chapter has introduced the fundamental oscillation model and two types of CPG circuits that are useful for gait generation. In this chapter, we start to present how we design limbless gaits taking advantages of the properties of the two CPG circuits, and demonstrate both in simulation and field study the effectiveness of the proposed CPG networks. In the field of robotics, in order to reduce the consumption of real robots during experiments, simulation is a preferred way used to test and verify proposed ideas. Here, open dynamics engine (ODE) is utilized as the simulation platform (Smith 2008). ODE is an open source, high performance library that is good at simulating rigid body dynamics. It has advanced joint types and an integrated collision detection mechanism. Therefore it is usually used for simulating robotic locomotion in virtual reality environments.
Design of Limbless Locomotion
Bio-Inspired Locomotion Control of Limbless Robots ; Kapitel : 5 ; 103-124
2023-01-31
22 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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