Elsevier, Neurocomputing, (170), p. 113-127, 2015
DOI: 10.1016/j.neucom.2015.04.091
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This work presents a new extension to the artificial CPGs (Central Pattern Generators) based on Scheduling by Multiple Edge Reversal (SMER) proposed by Yang and França. The insertion of a total support phase between each particular swing and support legs phase was produced for all different hexapod gait patterns. Thus, pseudo-synchronous gait pattern transitions are easily allowed and walking stability is potentially improved. Moreover, the insertion of such new phases facilitates to work with two distinct time periods: (i) when legs are in the typical swing-support phases, i.e., carrying the body of the robot to its future position, and (ii) during total support phases. All new extended SMER-based gait patterns are presented by means of a kinematic analysis made through simulations of a hexapod walking robot.