AmphiBot I :: an amphibious snake-like robot
AmphiBot I :: an amphibious snake-like robot
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DOI：
10.1016/j.robot.2004.09.015
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发表时间：
2005-03-31
影响因子：
4.3
通讯作者：
Ijspeert, AJ
中科院分区：
文献类型：
--
作者：
Crespi, A;Badertscher, A;Ijspeert, AJ
本文介绍了一个项目，旨在构建一个生物启发两栖蛇形机器人。该机器人在水中能像海蛇和七鳃鳗一样游动，在地面上能像蛇一样作横向波动运动。机器人的结构和控制器都受到细长脊椎动物的启发。特别地，机器人的运动由中央模式发生器（耦合振荡器的系统）控制，该中央模式发生器产生作为极限环行为的振荡行波。我们提出了背后的机器人及其控制器的设计考虑。进行了实验，以确定类型的行波，优化速度在地面上的横向波动运动。特别地，当机器人在特定表面上爬行时，因此识别最佳频率、振幅和波长。(c)2004 Elsevier B.V.保留所有权利。
This article presents a project that aims at constructing a biologically inspired amphibious snake-like robot. The robot is designed to be capable of anguilliform swimming like sea-snakes and lampreys in water and lateral undulatory locomotion like a snake on ground. Both the structure and the controller of the robot are inspired by elongate vertebrates. In particular, the locomotion of the robot is controlled by a central pattern generator (a system of coupled oscillators) that produces travelling waves of oscillations as limit cycle behavior. We present the design considerations behind the robot and its controller. Experiments are carried out to identify the types of travelling waves that optimize speed during lateral undulatory locomotion on ground. In particular, the optimal frequency, amplitude and wavelength are thus identified when the robot is crawling on a particular surface. (c) 2004 Elsevier B.V. All rights reserved.