Wang, Chunlei; Zhang, Ting; Wei, Xiaohui; Long, Yongjun; … - In: Industrial Robot: An International Journal 44 (2017) 1, pp. 85-93
nervous system. The central pattern generators in the spine generate the stable and cyclic signals as the fundamental rhythm … for periodic motion of the leg and spine joints. Third, the low-level sub-controller is equal to the end effector, which … adopts the simple proportional-derivative (PD) control to realize the specific motion trajectory of the legs and spine …