Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot
文献类型：期刊论文
| 作者 | Lu ZL(卢振利) ; Ma SG(马书根); Li B(李斌); Wang YC(王越超)
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| 刊名 | Frontiers of Mechanical Engineering in China
 |
| 出版日期 | 2006 |
| 卷号 | 1期号:4页码:396-402 |
| ISSN号 | 1673-3479 |
| 产权排序 | 1 |
| 中文摘要 | The rhythmic locomotion of a creature is a self-excitation behavior of the CPG (central pattern generator), which makes it supremely adapted for environment. Based on this fact, firstly, a snake-like robot controller with cyclic inhibitory CPG model was designed, and then the stability of a single neuron, CPG model and the NON (neuron oscillator network) was analyzed. By implementing this control architecture to a simulator based on the mechanical dynamics of a real snake-like robot named Perambulator-I, we presented preliminary rules for parameter setting of the CPG controller to modulate the number of S shapes, the curve of the body shape, locomotion velocity, and the curve of the locomotion trajectory for serpentine locomotion. Moreover, we demonstrated that Perambulator-I can successfully exhibit serpentine locomotion by using the output of the proposed CPG controller. The results of this paper provide a realistic approach for designing an artificial CPG controller. |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7335]  |
| 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 | Lu ZL,Ma SG,Li B,et al. Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot[J]. Frontiers of Mechanical Engineering in China,2006,1(4):396-402. |
| APA | Lu ZL,Ma SG,Li B,&Wang YC.(2006).Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot.Frontiers of Mechanical Engineering in China,1(4),396-402. |
| MLA | Lu ZL,et al."Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot".Frontiers of Mechanical Engineering in China 1.4(2006):396-402. |
入库方式： OAI收割
来源：沈阳自动化研究所
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