Body shape control of a snake-like robot based on phase oscillator network
Body shape control of a snake-like robot based on phase oscillator network
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DOI：
10.1109/robio.2013.6739471
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发表时间：
2013-12
期刊：
影响因子：
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通讯作者：
N. Nor;Shugen Ma
中科院分区：
文献类型：
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作者：
N. Nor;Shugen Ma
研究了蛇形机器人的运动控制问题。在运动的过渡期间输入信号的不连续性是不期望的，这可能导致大的滑动和滑移。为了克服这一问题，提出了一种采用基于CPG的控制方法，实现蛇形机器人身体形状的平滑过渡。蛇形机器人的体型转换对于其适应不同空间宽度的运动，特别是在危险环境下的救援任务具有重要意义。通过立即改变CPG输出的相位差，相位转变将导致输入信号的尖锐点或不连续性，这将导致蛇形机器人的急动运动。本文提出了一种实现蛇形机器人平滑过渡的新方法，通过引入激活函数。该方法简单易行，适用于机器人的控制。仿真结果和转矩分析证实了该方法的有效性。
This paper addresses a problem of locomotion control of a snake-like robot. The discontinuity of the input signal during transition of locomotion is not desirable which may cause a large sliding and slippage. To overcome this problem, a method that produce a smooth transition of the body shape of a snake-like robot is introduced by adopting CPG-based control. Body shape transition is important for a snake-like robot locomotion to adapt to different space widths especially for rescuing task in a hazardous environment. By changing the phase difference of the CPG outputs instantly, the phase transition will result in a sharp point or discontinuity of the input signal which will lead to a jerky movement of the snake-like robot. In this paper, we propose a novel way of producing smooth body shape transition of a snake-like robot i.e., by introducing an activation function. This method is simple and easy to be implemented for robot's control. Simulation results and torque analysis confirm the effectiveness of the proposed method.