Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change
文献类型：期刊论文
| 作者 | Wu XD(吴小东); Ma SG(马书根)
|
| 刊名 | Autonomous Robots
 |
| 出版日期 | 2010 |
| 卷号 | 28期号:3页码:283-294 |
| 关键词 | Snake-like robot CPG network Feedback connection Motion control Adaptive locomotion |
| ISSN号 | 0929-5593 |
| 产权排序 | 2 |
| 中文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Artificial Intelligence ; Robotics |
| 研究领域[WOS] | Computer Science ; Robotics |
| 关键词[WOS] | CENTRAL PATTERN GENERATORS |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000275455400004 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7299]  |
| 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. Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change[J]. Autonomous Robots,2010,28(3):283-294. |
| APA | Wu XD,&Ma SG.(2010).Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change.Autonomous Robots,28(3),283-294. |
| MLA | Wu XD,et al."Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change".Autonomous Robots 28.3(2010):283-294. |
入库方式： OAI收割
来源：沈阳自动化研究所
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