Parameter design for a Central Pattern Generator based locomotion controller
文献类型：会议论文
| 作者 | Wang, Ming1; Yu, Junzhi1 ; Tan, Min1
|
| 出版日期 | 2008 |
| 会议名称 | 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 |
| 会议日期 | October 15, 2008 - October 17, 2008 |
| 会议地点 | Wuhan, China |
| 关键词 | Locomotion control Central Pattern Generator robotic fish parameter design motion pattern |
| 通讯作者 | Wang Ming |
| 英文摘要 | The paper addresses a novel parameter design method for a locomotion controller based on the Central Pattern Generator (CPG) to generate diverse locomotion behaviors for link-based fish robots. Since almost all mathematical models of the CPG represented by differential equations have many parameters, it is very intractable to design and modulate these quantities. To partly tackle this problem, an iterative technique centered parameter determination method is formulated, into which the relationship between fish-inspired body wave and the multi-link mechanical structure is fused. The formed algorithm is simple, easy to implement and suitable for engineering application. A simulation example of a three-link robotic fish is further illustrated. The results show the effectiveness of the approach which can be extended to control biomimetic robotic fish and other multi-link robots. Moreover, many related CPG mathematical models can be dealt with by the proposed method. |
| 会议录 | International Conference on Intelligent Robotics and Applications, ICIRA
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13059]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China 2. School of Information and Electric Engineering, Shandong Jianzhu University, Jinan 250101, China |
| 推荐引用方式 GB/T 7714 | Wang, Ming,Yu, Junzhi,Tan, Min. Parameter design for a Central Pattern Generator based locomotion controller[C]. 见:1st International Conference on Intelligent Robotics and Applications, ICIRA 2008. Wuhan, China. October 15, 2008 - October 17, 2008. |
入库方式： OAI收割
来源：自动化研究所
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