Summer 2015 URCPP
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This document discusses the design of a quadruped robot that walks like a dog using central pattern generators. It first provides background on existing quadruped robots as inspiration. It then discusses canine anatomy and includes sketches of a potential robot design. The main component discussed is using central pattern generators, which are groups of neurons in the spine that output rhythmic signals to muscles without external input to control walking. The document describes experiments using oscillators and sinusoidal clocks in software to simulate central pattern generators and get a turtle and penguin robot to walk. It concludes by reflecting on lessons learned from the project around failures and communication challenges.
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Summer 2015 URCPP
- 1. Quadrupeds and Central Pattern Generators BY KRISTIAN TOOLE & BRIA WILLIAMS 1
- 2. What is needed in order to make a robot walk like a canine? The Motivating Question 2
- 3. Inspiration and Background Boston Dynamics Big Dog Aibo TekkenCheetah Cub Allegro Do g 3 3
- 4. Beginning to Design 4 4
- 6. Sketches, Sketches, and more Sketches 6 6
- 7. Central Pattern Generator (CPG) Definition: A group of neurons located in the spine that output rhythmic signals or frequencies to muscles throughout the body without any external input, telling them when to contract and when to not contract. 7 7
- 8. Introducing Cedric the Turtle 8 8
- 11. The Sinusoidal Clock 11 11
- 12. A Refresher in Math 12 12
- 15. Summary 15 15
- 16. Significant Learning • Finding examples of similar research • Lots of Hardware Failures • Software Failures • Poor communication ( with original robot designer ) • Converting Math to Code 16 16
- 17. Conclusion 17 17
- 18. Acknowledgements Professor Matt Jadud Professor Scott Heggen Professor Mark Mahoney Professor Mario Nakazawa URCPP Fund 18 18
- 19. Questions? 19 19