Smooth transition for CPG-based body shape control of a snake-like robot
Smooth transition for CPG-based body shape control of a snake-like robot
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DOI：
10.1088/1748-3182/9/1/016003
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发表时间：
2013-12
影响因子：
3.4
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
提出了一种基于中央模式发生器（CPG）的蛇形机器人运动控制方法。本文的主要内容是一种蛇形机器人的身体形状平滑过渡的方法。蛇形机器人的体形转换对于蛇形机器人适应不同空间宽度的运动以及避障具有重要意义。通过即时操纵CPG输出的相位差，会产生尖锐点或不连续性，从而导致蛇形机器人的运动不稳定。为了解决这个问题，我们提出了一种控制身体形状的方法：在相位振荡器CPG模型中加入激活函数。该方法的简单性保证了容易的实施和简单的控制。仿真结果和力矩分析证实了所提出的控制方法的有效性，因此，可以用作蛇形机器人的各种潜在应用中的运动控制。
This paper presents a locomotion control based on central pattern generator (CPG) of a snake-like robot. The main point addressed in this paper is a method that produces a smooth transition of the body shape of a snake-like robot. Body shape transition is important for snake-like robot locomotion to adapt to different space widths and also for obstacle avoidance. By manipulating the phase difference of the CPG outputs instantly, it will results in a sharp point or discontinuity which lead to an unstable movement of the snake-like robot. To tackle the problem, we propose a way of controlling the body shape: by incorporating activation function in the phase oscillator CPG model. The simplicity of the method promises an easy implementation and simple control. Simulation results and torque analysis confirm the effectiveness of the proposed control method and thus, can be used as a locomotion control in various potential applications of a snake-like robot.