CPG Control of three-link biped walker
Final project for MICRO-507 Legged Robots
Students: Chuanfang Ning, Guilain Brunoro, Mingchi Hou
Lecturer: Prof. Auke Ijspeert
- kinetic, dynamic and impact map modelling of a three-link-biped walker in Matlab
- animated the walker in simulation given the model, actuation and disturbance
- implemented a CPG controller to mimic the torque control obtained from a PD controller
- evaluated the control metrics in terms of robustness against perturbations, walking speed, gait length/frequencies
Control law: mixed control with CPG (30% feedforward) + PD(70% feedback). Object function:
$$f(p)=w_1\times|\dot{x}\_{hip}-\dot{\bar{x}}\_{hip}(p)|+w_2\times CoT(p)+w_3\times| z\_{hip}-\bar{z}\_{hip}(p)|+w_4\times| f\_{rq}-\bar{f}\_{rq}(p)|$$
The object function always minimizes the cost of transfer and tries to mimic the pattern generated by a PD controller.
The object function can be edited to generate gait with certain step length or frequency or maximize the gait speed.
Demo for our project:
