CPG-based control of serpentine locomotion of a snake-like robot
CPG-based control of serpentine locomotion of a snake-like robot
复制标题
基于 CPG 的蛇形机器人蛇形运动控制
DOI：
10.1016/j.mechatronics.2010.01.006
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发表时间：
2010-03-01
期刊：
影响因子：
3.3
通讯作者：
Ma, Shugen
中科院分区：
文献类型：
--
作者：
Wu, Xiaodong;Ma, Shugen
本文提出了一种仿生方法来解决蛇形机器人多自由度控制的难题。该方法基于中心模式发生器(CPG)，它是一种存在于大多数动物中的有节奏的运动发生器。与前人的研究相比，提出了一种带反馈连接的网络，该网络无需任何调整即可产生均匀的输出。此外，还研究了CPG参数与输出之间的关系特性。对蛇形机器人的运动控制进行了仿真和实验分析，根据结果(C)2010爱思唯尔有限公司相应地调整CPG参数，可以获得理想的运动模式。
In this paper, a biomimetic approach is proposed to solve the difficulty in control of a snake-like robot with a large number of degrees of freedom This method is based on the central pattern generator (CPG), which is a rhythmical motion generator existing in most animals. Compared with the previous research, a new network with feedback connection is presented, which can generate uniform outputs without any adjustment. Furthermore, the relation characteristics between the CPG parameters and the outputs are investigated. Both simulation and experiment of the snake-like robot have been taken for the analysis of the locomotion control Desired locomotion patterns can be achieved by adjusting the CPG parameters correspondingly from the results (C) 2010 Elsevier Ltd. All rights reserved.