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

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

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

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.

源语言英语
主期刊名2023 IEEE International Conference on Development and Learning, ICDL 2023
出版商Institute of Electrical and Electronics Engineers Inc.
524-529
页数6
ISBN(电子版)9781665470759
DOI
出版状态已出版 - 2023
活动2023 IEEE International Conference on Development and Learning, ICDL 2023 - Macau, 中国
期限: 9 11月 202311 11月 2023

出版系列

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

会议

会议2023 IEEE International Conference on Development and Learning, ICDL 2023
国家/地区中国
Macau
时期9/11/2311/11/23

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