热门
CPG-based control of serpentine locomotion of a snake-like robot
文献类型：期刊论文
| 作者 | Wu XD(吴小东); Ma SG(马书根)
|
| 刊名 | Mechatronics
 |
| 出版日期 | 2010 |
| 卷号 | 20期号:2页码:326-334 |
| 关键词 | Snake-like robot CPG Feedback connection CPG parameters Motion control |
| ISSN号 | 0957-4158 |
| 产权排序 | 2 |
| 中文摘要 | In this paper, a biomimetic approach is proposed to solve the difficulty 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 research, 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 the analysis of the locomotion control. Desired locomotion patterns can be achieved by adjusting the CPG parameters correspondingly from the results. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science ; Engineering |
| 关键词[WOS] | DYNAMIC WALKING ; OSCILLATOR |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000276438900014 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7329]  |
| 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[J]. Mechatronics,2010,20(2):326-334. |
| APA | Wu XD,&Ma SG.(2010).CPG-based control of serpentine locomotion of a snake-like robot.Mechatronics,20(2),326-334. |
| MLA | Wu XD,et al."CPG-based control of serpentine locomotion of a snake-like robot".Mechatronics 20.2(2010):326-334. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。