Distributed Central Pattern Generator Model for Robotics Application Based on Phase Sensitivity Analysis
Distributed Central Pattern Generator Model for Robotics Application Based on Phase Sensitivity Analysis
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DOI：
10.1007/978-3-540-27835-1_25
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发表时间：
2004-01
期刊：
影响因子：
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通讯作者：
J. Buchli;A. Ijspeert
中科院分区：
文献类型：
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作者：
J. Buchli;A. Ijspeert
提出了一种预测耦合相位振荡器之间的相位关系的方法。为了说明该方法的应用，给出了一个基于幅度控制相位振荡器的分布式中央模式发生器(CPG)模型。给出了CPG模型的典型数值积分结果，说明了该模型在过渡速度、稳健性和对初始条件的无关性方面的优良特性。CPG的一个特别有趣的特点是，通过改变单个参数，可以在不同的稳定步态之间切换。这些特点使得CPG模型成为多足机器人分散控制的一个有趣的解决方案。在更一般的耦合非线性系统框架下讨论了该方法，以及适用于信息技术和机器人的非线性分布式控制方案的设计工具。
A method is presented to predict phase relationships between coupled phase oscillators. As an illustration of how the method can be applied, a distributed Central Pattern Generator (CPG) model based on amplitude controlled phase oscillators is presented. Representative results of numerical integration of the CPG model are presented to illustrate its excellent properties in terms of transition speeds, robustness and independence on initial conditions. A particularly interesting feature of the CPG is the possibility to switch between different stable gaits by varying a single parameter. These characteristics make the CPG model an interesting solution for the decentralized control of multi-legged robots. The approach is discussed in the more general framework of coupled nonlinear systems, and design tools for nonlinear distributed control schemes applicable to Information Technology and Robotics.