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

航海学院

Northwestern Polytechnical University Xian

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.
页	524-529
页数	6
ISBN（电子版）	9781665470759
DOI	https://doi.org/10.1109/ICDL55364.2023.10364410
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 2023 → 11 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
市	Macau
时期	9/11/23 → 11/11/23

访问文件

10.1109/ICDL55364.2023.10364410

其它文件与链接

链接到 Scopus 的出版物

引用此

Ma, F., Yan, W., Cui, R., Guo, X., & Chen, L. (2023). Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network. 在 2023 IEEE International Conference on Development and Learning, ICDL 2023 (页码 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

@inproceedings{5ffbfa6836014b2f96d7ef7ba12581cc,

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",

}

Ma, F, Yan, W , Cui, R, Guo, X & Chen, L 2023, Gait Planning for Underwater Legged Robot Based on CPG and BP Neural Network. 在 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., 页码 524-529, 2023 IEEE International Conference on Development and Learning, ICDL 2023, Macau, 中国, 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 等.
2023 IEEE International Conference on Development and Learning, ICDL 2023. Institute of Electrical and Electronics Engineers Inc., 2023. 页码 524-529 (2023 IEEE International Conference on Development and Learning, ICDL 2023).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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

UR - http://www.scopus.com/inward/record.url?scp=85182952986&partnerID=8YFLogxK

U2 - 10.1109/ICDL55364.2023.10364410

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. 在 2023 IEEE International Conference on Development and Learning, ICDL 2023. Institute of Electrical and Electronics Engineers Inc. 2023. 页码 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

摘要

出版系列

会议

访问文件

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指纹

引用此