Gaits-transferable CPG controller for a snake-like 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 | Science in China Series F: Information Sciences
 |
| 出版日期 | 2008 |
| 卷号 | 51期号:3页码:293-305 |
| 关键词 | snake-like robot bidirectional cyclic inhibition (BCI) central pattern generator (CPG) stability analysis locomotion control |
| ISSN号 | 1009-2757 |
| 产权排序 | 1 |
| 中文摘要 | With slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory (BCI) CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000252889900006 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7360]  |
| 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. Gaits-transferable CPG controller for a snake-like robot[J]. Science in China Series F: Information Sciences,2008,51(3):293-305. |
| APA | Lu ZL,Ma SG,Li B,&Wang YC.(2008).Gaits-transferable CPG controller for a snake-like robot.Science in China Series F: Information Sciences,51(3),293-305. |
| MLA | Lu ZL,et al."Gaits-transferable CPG controller for a snake-like robot".Science in China Series F: Information Sciences 51.3(2008):293-305. |
入库方式： OAI收割
来源：沈阳自动化研究所
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