Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change
Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change
复制标题
CPG控制蛇形机器人对环境变化的自适应爬行运动
DOI：
10.1007/s10514-009-9168-1
复制
发表时间：
2010-04-01
影响因子：
3.5
通讯作者：
Ma, Shugen
中科院分区：
文献类型：
--
作者：
Wu, Xiaodong;Ma, Shugen
针对蛇形机器人的控制问题，提出了一种基于中心模式发生器（CPG）的仿生方法。本文提出了一种带反馈连接的新网络，该网络无需任何附加调整就能产生均匀的输出。研究了CPG参数与输出特性之间的关系。建立了蛇形机器人基于CPG的运动控制仿真平台。为了解决机器人在摩擦力变化或坡度给定的情况下的自适应爬行运动，利用曲率自适应原理，讨论了CPG参数与运动效率的关系。
In this paper, we present a biomimetic approach which is based on Central Pattern Generator (CPG) to solve the difficulty in control of a snake-like robot with a large number of degrees of freedom. A new network with a feedback connection is proposed, which can generate uniform outputs without any additional adjustment. The relations between the CPG parameters and the characteristics of output are also investigated. A simulation platform is also established for the analysis of the CPG-based locomotion control of a snake-like robot. To figure out adaptive creeping locomotion of the robot to the environment with changed friction or the given slope, the relations of CPG parameters and locomotion efficiency by the proposed curvature adaptive principle have been discussed.