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System Development & Application
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3053-3058

Gait locomotion of hexapod robot based on Spiking-CPG neural system using Hopf oscillator

Luo Shutong1
Song Zigen2
1. College of Information, Shanghai Ocean University, Shanghai 201306, China
2. School of Aerospace Engineering & Applied Mechanics, Tongji University, Shanghai 200092, China

Abstract

CPG makes a great contribution to the control of gait motions in hexapod robots. To manage the gait movements of hexapod robots more efficiently and with lower energy consumption, this work introduced a Spiking-CPG(SCPG) neural network as the bionic control system for these robots. The system integrated Hopf oscillators with biologically inspired LIF neurons, which communicated through sparse spiking signals, in a ring topology. It was composed of six groups, each containing 2 000 LIF neurons, interconnected to form the network. This SCPG control system could produce common hexapod robot gaits such as the wave, tetrapod, and tripod gaits. It facilitated rapid, smooth, and stable transitions between motion gaits by adjusting phase difference parameters, and could dynamically adjust the required frequency and amplitude, exhibiting excellent robustness by quickly recovering from external disturbances. It controlled a simple 3D hexapod robot model on the Webots platform. It developed the robot by transforming the SCPG signal output through joint mapping functions, validating the motion stability of the designed hexapod robot and the feasibility and effectiveness of the SCPG control scheme. Finally, it ported the SCPG neural network controller proposed to Intel's Loihi chip, showing that it has high execution speed and lower energy consumption, indicating a promising prospect for application in the motion control of hexapod robots.

Foundation Support

国家自然科学基金资助项目(12172212)
中央高校基本科研业务费专项资金资助项目(22120220588)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.01.0050
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 10
Section: System Development & Application
Pages: 3053-3058
Serial Number: 1001-3695(2024)10-024-3053-06

Publish History

[2024-07-05] Accepted Paper
[2024-10-05] Printed Article

Cite This Article

罗疏桐, 宋自根. 基于Hopf振荡器的Spiking-CPG六足机器人步态运动控制 [J]. 计算机应用研究, 2024, 41 (10): 3053-3058. (Luo Shutong, Song Zigen. Gait locomotion of hexapod robot based on Spiking-CPG neural system using Hopf oscillator [J]. Application Research of Computers, 2024, 41 (10): 3053-3058. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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