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V-REP is a powerful cross-platform 3D simulator based on a distributed control architecture: control programs (or scripts) can be directly attached to scene objects and run simultaneously in a threaded or non-threaded fashion. It features advanced physics engines which allows to simulate real-world physics and object interactions (collisions, object dynamics, etc.).
V-REP control methods V-REP Python remote API documentation V-REP C++ remote API documentation
V-REP Python remote API tutorial
Hexapod model
Hexapod servos numbering:
Central Pattern Generator (CPG) is a biologically inspired neural network that produce rhythmic patterned outputs 1). CPGs are composed from individual neurons connected by mutual inhibition. The most used model and structure of the CPG is a Matsuoka oscillator 2). The main problem is parameter tweaking of individual connections to achieve limit cycles in the neural network 3)
We will use a Matsuoka oscillator formed by four neurons in mutual inhibition.
The CPGs are connected in a network where each leg is driven by one CPG 4).
Typical output of the CPG network and the transition between different gaits.
Translation of the CPG output on the actuators can be done directly 1), or using the post-processing of the signal and inverse kinematics 4) 5) to calculate the foot-tip trajectories. In our work we are using the direct approach to map the CPG output to the joint angles.
In intelligent robotics the vital task for the robot is the navigation. Hence, the robot has to be aware of its position with respect to the goal and then find a suitable way to achieve it. In this course we ar einterested mostly in the artificial intelligence and planning, hence, the localization is provided in 6 Degrees Of Freedom (DOF) in global coordinates by the simulator.
Lab exercise materials are available for download The directory structure of the archive is as follows:
lab01
lab01.py
oscilator_constants.py
oscilator_network.py