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Central pattern generator-based coupling control method for synchronously controlling the two-degrees-of-freedom

Qiang Fu¹, Tianhong Luo¹, Chunpeng Pan¹

¹Department of Robot Engineering, Chongqing University of Arts and Sciences, Chongqing, China.

Science Progress

|December 13, 2019

Summary

This study introduces a novel central pattern generator (CPG)-based coupling control method for synchronizing two-joint robots. The CPG control method successfully achieves coordinated joint motions and adjustable rhythmic patterns in robots.

Keywords:

Rayleigh oscillator Two-degrees-of-freedom robot central pattern generator synchronous control

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Area of Science:

Robotics
Control Systems
Biomimetic Engineering

Background:

Synchronous control of multi-joint robots is a significant challenge.
Central Pattern Generators (CPGs) offer a biologically inspired approach to rhythmic motor control.

Purpose of the Study:

To propose and validate a CPG-based coupling control method for synchronizing the joints of a two-degrees-of-freedom (2-DOF) robot.
To demonstrate the method's effectiveness through co-simulation and experimental validation.

Main Methods:

Utilized two coupled Rayleigh oscillators as CPG models for the robot's two joints.
Developed a co-simulation model using ADAMS and MATLAB/Simulink.
Implemented and tested the control method on a physical 2-DOF robot experimental setup.

Main Results:

The CPG-based coupling control method achieved mutual phase locking between the robot's joints.
Simulations and experiments confirmed the synchronization of joint motions.
The rhythmic pattern of the robot's motion was adjustable via the coupling parameter.

Conclusions:

The proposed CPG-based coupling control method effectively enables coordinated motions in 2-DOF robots.
This approach allows for the adjustment of rhythmic patterns, offering versatile robotic control solutions.