@inproceedings{1bda159d8dab420c890af0579e7a5b39,
title = "Enhancing adaptability of a legged walking robot with limit-cycle based local reflex behavior",
abstract = "This paper deals with the reactive behavior generation for hexapod walking inspired by insects{\textquoteright} robust and dexterous performance in complex environment. The single-leg controller including a coupled CPG network and linear coefficient converter is developed to yield stable and rhythmic signals for joint movement, the limit cycle behavior of which is systematically investigated with the Multi-variable Harmonic Balance (MHB) analysis. With these results, two typical local reflexes are further established. Based on the structure of the proposed single-leg controller, the elevator reflex is fulfilled via orbit attraction of limit cycles while the searching reflex is realized via limit cycle shift. The effectiveness of the proposed algorithm is confirmed through walking simulations.",
keywords = "Central Pattern Generator (CPG), Gait, Hexapod robot, Locomotion control",
author = "Jun Li and Haitao Yu and Haibo Gao and Lixian Zhang and Zongquan Deng",
note = "Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2018.; 11th International Conference on Intelligent Robotics and Applications, ICIRA 2018 ; Conference date: 09-08-2018 Through 11-08-2018",
year = "2018",
doi = "10.1007/978-3-319-97589-4\_25",
language = "英语",
isbn = "9783319975887",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "297--310",
editor = "Zhiyong Chen and Alexandre Mendes and Yamin Yan and Shifeng Chen",
booktitle = "Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings",
address = "德国",
}