Venus Pasandi,∗ Hamid Sadeghian,∗∗ Mehdi Keshmiri,∗ and Hossein Karimpour∗∗
Online motion modulation, hybrid CPG, hybrid motion, attractive dynamical system
In this paper, we address the online smooth motion modulation for hybrid cyclic motions. For this purpose, we present an architecture for online trajectory generation from a library of desired periodic trajectories including impacts. The proposed architecture is a Cen- tral Pattern Generator (CPG) consisting of a synchronized network of multiple novel oscillatory systems. The proposed CPG provides limit cycle tracking of the desired multidimensional periodic trajec- tory from any initial condition irrespective of the CPG parameters. The proposed architecture is applicable for hybrid motions including impacts and continuous motions. The soundness of the proposed architecture is verified by numerical simulation on IIWA Kuka arm in a hitting drum scenario.
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