3D locomotion of a snake-like robot controlled by cyclic inhibitory CPG model
文献类型：会议论文
| 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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| 出版日期 | 2006 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | October 9-13, 2006 |
| 会议地点 | Beijing, China |
| 关键词 | snake-like robot 3-dimensional locomotion cyclic inhibition central pattern generator (CPG) stability analysis |
| 页码 | 3897-3902 |
| 中文摘要 | With 3D (3-dimensional) movement's ability and rhythmic locomotion mode, a nature snake makes itself survive in rugged terrains. The rhythmic activities of most creatures are generated by the CPG (Central Pattern Generator). Based on this fact, the sustained-type neuron has been adopted to construct a cyclic inhibitory CPG model for a snake-like robot whose joints are perpendicularly connected in series. Having compared with the sustained-type neuron and the mutual inhibitory CPG, the cyclic inhibitory CPG was proven to generate capably rhythmic output with the least number of differential equations. In this paper, we introduce the neuron network organized by the cyclic inhibitory CPGs connected in line with unilateral excitation to control the 3D locomotion of a snake-like robot, and present the necessary condition for the CPG neuron network to sustain a rhythmic output. By implementing this control architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot "Perambulator", preliminary parameter setting of the CPG neuron network for its 3D locomotion is obtained. Moreover, it is shown that "Perambulator" can successfully exhibit 3D locomotion by using the output of the proposed CPG network. The obtained results have also provided a bran new approach to understand the unknown neuron network of nature snakes. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, RSJ |
| 会议录 | 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0258-8 |
| WOS记录号 | WOS:000245452404002 |
| 源URL | [http://ir.sia.cn/handle/173321/8457]  |
| 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. 3D locomotion of a snake-like robot controlled by cyclic inhibitory CPG model[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing, China. October 9-13, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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