Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network

Feiyu Ma; Weisheng Yan; Rongxin Cui; Xinxin Guo; Lepeng Chen

doi:10.1109/ICDL55364.2023.10364410

Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network

Feiyu Ma, Weisheng Yan, Rongxin Cui, Xinxin Guo, Lepeng Chen

School of Marine Science and Technology

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

To realize continuous legged locomotion between different walls, especially the large-angled walls, we present a gait planning method for a underwater legged robot based on central pattern generator (CPG) and back propagation (BP) neural network in this paper. We use CPG as the signal generator for hip joint of each leg, and collect the data set in Gazebo. After that, we set up a BP neural network to fit the mapping relationship between the joint rotation angle and the output of CPG. Then, we use the trained network to generate adaptive gait autonomously for our robot. The test results in Gazebo verify the effectiveness of our method.

Original language	English
Title of host publication	2023 IEEE International Conference on Development and Learning, ICDL 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	524-529
Number of pages	6
ISBN (Electronic)	9781665470759
DOIs	https://doi.org/10.1109/ICDL55364.2023.10364410
State	Published - 2023
Event	2023 IEEE International Conference on Development and Learning, ICDL 2023 - Macau, China Duration: 9 Nov 2023 → 11 Nov 2023

Publication series

Name	2023 IEEE International Conference on Development and Learning, ICDL 2023

Conference

Conference	2023 IEEE International Conference on Development and Learning, ICDL 2023
Country/Territory	China
City	Macau
Period	9/11/23 → 11/11/23

Keywords

back propagation neural network
central pattern generator
gait planning
underwater robot

Access to Document

10.1109/ICDL55364.2023.10364410

Cite this

Ma, F., Yan, W., Cui, R., Guo, X., & Chen, L. (2023). Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network. In 2023 IEEE International Conference on Development and Learning, ICDL 2023 (pp. 524-529). (2023 IEEE International Conference on Development and Learning, ICDL 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICDL55364.2023.10364410

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title = "Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network",

abstract = "To realize continuous legged locomotion between different walls, especially the large-angled walls, we present a gait planning method for a underwater legged robot based on central pattern generator (CPG) and back propagation (BP) neural network in this paper. We use CPG as the signal generator for hip joint of each leg, and collect the data set in Gazebo. After that, we set up a BP neural network to fit the mapping relationship between the joint rotation angle and the output of CPG. Then, we use the trained network to generate adaptive gait autonomously for our robot. The test results in Gazebo verify the effectiveness of our method.",

keywords = "back propagation neural network, central pattern generator, gait planning, underwater robot",

author = "Feiyu Ma and Weisheng Yan and Rongxin Cui and Xinxin Guo and Lepeng Chen",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Development and Learning, ICDL 2023 ; Conference date: 09-11-2023 Through 11-11-2023",

year = "2023",

doi = "10.1109/ICDL55364.2023.10364410",

language = "英语",

series = "2023 IEEE International Conference on Development and Learning, ICDL 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "524--529",

booktitle = "2023 IEEE International Conference on Development and Learning, ICDL 2023",

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Ma, F, Yan, W , Cui, R, Guo, X & Chen, L 2023, Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network. in 2023 IEEE International Conference on Development and Learning, ICDL 2023. 2023 IEEE International Conference on Development and Learning, ICDL 2023, Institute of Electrical and Electronics Engineers Inc., pp. 524-529, 2023 IEEE International Conference on Development and Learning, ICDL 2023, Macau, China, 9/11/23. https://doi.org/10.1109/ICDL55364.2023.10364410

Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network. / Ma, Feiyu; Yan, Weisheng ; Cui, Rongxin et al.
2023 IEEE International Conference on Development and Learning, ICDL 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 524-529 (2023 IEEE International Conference on Development and Learning, ICDL 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network

AU - Ma, Feiyu

AU - Yan, Weisheng

AU - Cui, Rongxin

AU - Guo, Xinxin

AU - Chen, Lepeng

PY - 2023

Y1 - 2023

N2 - To realize continuous legged locomotion between different walls, especially the large-angled walls, we present a gait planning method for a underwater legged robot based on central pattern generator (CPG) and back propagation (BP) neural network in this paper. We use CPG as the signal generator for hip joint of each leg, and collect the data set in Gazebo. After that, we set up a BP neural network to fit the mapping relationship between the joint rotation angle and the output of CPG. Then, we use the trained network to generate adaptive gait autonomously for our robot. The test results in Gazebo verify the effectiveness of our method.

AB - To realize continuous legged locomotion between different walls, especially the large-angled walls, we present a gait planning method for a underwater legged robot based on central pattern generator (CPG) and back propagation (BP) neural network in this paper. We use CPG as the signal generator for hip joint of each leg, and collect the data set in Gazebo. After that, we set up a BP neural network to fit the mapping relationship between the joint rotation angle and the output of CPG. Then, we use the trained network to generate adaptive gait autonomously for our robot. The test results in Gazebo verify the effectiveness of our method.

KW - back propagation neural network

KW - central pattern generator

KW - gait planning

KW - underwater robot

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DO - 10.1109/ICDL55364.2023.10364410

M3 - 会议稿件

AN - SCOPUS:85182952986

T3 - 2023 IEEE International Conference on Development and Learning, ICDL 2023

SP - 524

EP - 529

BT - 2023 IEEE International Conference on Development and Learning, ICDL 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE International Conference on Development and Learning, ICDL 2023

Y2 - 9 November 2023 through 11 November 2023

ER -

Ma F, Yan W , Cui R, Guo X, Chen L. Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network. In 2023 IEEE International Conference on Development and Learning, ICDL 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 524-529. (2023 IEEE International Conference on Development and Learning, ICDL 2023). doi: 10.1109/ICDL55364.2023.10364410

Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network

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