Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms
文献类型：期刊论文
| 作者 | Chen, Xi; Wang, Gang; Han SK(韩世凯)
|
| 刊名 | International Journal of Advanced Robotic Systems
 |
| 出版日期 | 2017 |
| 卷号 | 14期号:4页码:1-13 |
| 关键词 | Crab-like robot central pattern generator Hopf oscillator self-adaptive control complex terrains |
| ISSN号 | 1729-8806 |
| 产权排序 | 3 |
| 通讯作者 | Wang, Gang |
| 中文摘要 | Although quite a few central pattern generator controllers have been developed to regulate the locomotion of terrestrial bionic robots, few studies have been conducted on the central pattern generator control technique for amphibious robots crawling on complex terrains. The present article proposes a central pattern generator and feedforward neural network-based self-adaptive gait control method for a crab-like robot locomoting on complex terrain under two reflex mechanisms. In detail, two nonlinear ordinary differential equations are presented at first to model a Hopf oscillator with limit cycle effects. Having Hopf oscillators as the basic units, a central pattern generator system is proposed for the waveform-gait control of the crab-like robot. A tri-layer feedforward neural network is then constructed to establish the one-to-one mapping between the central pattern generator rhythmic signals and the joint angles. Based on the central pattern generator system and feedforward neural network, two reflex mechanisms are put forward to realize self-adaptive gait control on complex terrains. Finally, experiments with the crab-like robot are performed to verify the waveform-gait generation and transition performances and the self-adaptive locomotion capability on uneven ground. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | AMPHIBIOUS SNAKE ROBOT ; TRAJECTORY GENERATION ; BIOLOGICAL CONCEPTS ; DYNAMIC WALKING ; QUADRUPED ROBOT ; CPG ; MODEL ; LAMPREY ; DESIGN ; FISH |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000407508200001 |
| 源URL | [http://ir.sia.cn/handle/173321/20812]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 作者单位 | 1.Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, China 2.College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China 3.College of Mechanical and Electrical Engineering, Heilongjiang Institute of Technology, Harbin, China 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Chen, Xi,Wang, Gang,Han SK. Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms[J]. International Journal of Advanced Robotic Systems,2017,14(4):1-13. |
| APA | Chen, Xi,Wang, Gang,&Han SK.(2017).Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms.International Journal of Advanced Robotic Systems,14(4),1-13. |
| MLA | Chen, Xi,et al."Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms".International Journal of Advanced Robotic Systems 14.4(2017):1-13. |
入库方式： OAI收割
来源：沈阳自动化研究所
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