CPG-based control of serpentine locomotion of a snake-like robot?
文献类型：会议论文
| 作者 | Wu XD(吴小东); Ma SG(马书根)
|
| 出版日期 | 2009 |
| 会议名称 | 9th IFAC Symposium on Robot Control, SYROCO 2009 |
| 会议日期 | September 9-12, 2009 |
| 会议地点 | Gifu, Japan |
| 关键词 | Snake-like robot CPG Feedback connection CPG parameters Motion control |
| 页码 | 705-710 |
| 中文摘要 | In this paper, a biomimetic approach is proposed to solve the dificulty 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 CPG networks, 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 analysis of the CPG- based locomotion control. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议主办者 | International Federation of Automatic Control (IFAC) - Technical Committe on Robotics (TC 4.3) |
| 会议录 | 9th IFAC Symposium on Robot Control, SYROCO 2009
 |
| 会议录出版者 | IFAC Secretariat |
| 会议录出版地 | Laxenburg, Austria |
| 语种 | 英语 |
| ISSN号 | 1474-6670 |
| 源URL | [http://ir.sia.cn/handle/173321/19730]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wu XD,Ma SG. CPG-based control of serpentine locomotion of a snake-like robot?[C]. 见:9th IFAC Symposium on Robot Control, SYROCO 2009. Gifu, Japan. September 9-12, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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