Design of a snake-like robot controller with 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 | 2005 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2005) |
| 会议日期 | July 5-9, 2005 |
| 会议地点 | Hong Kong, China |
| 关键词 | snake-like robot serpentine locomotion cyclic inhibitory CPG locomotion control stability analyzation |
| 页码 | 35-40 |
| 中文摘要 | Snake-like robots that behaves biological snakes' characteristics have possibility to make them supremely adapted for environment. In this paper, we firstly design a snake-like robot controller with cyclic inhibitory CPG model, and then analyze the stability of single neuron, CPG model and the neuron oscillator network (NON). By implementing this control architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot named "Perambulator-I", we present preliminary policies about parameter setting of the CPG controller for serpentine locomotion. Moreover, we show that "Perambulator-I" can successfully exhibit serpentine locomotion by using controller output of the proposed architecture. This paper provides a realistic approach to design an artificial CPG controller. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | 2005 IEEE International Conference on Robotics and Biomimetics
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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 | 0-7803-9315-5 |
| WOS记录号 | WOS:000241317800008 |
| 源URL | [http://ir.sia.cn/handle/173321/8642]  |
| 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 snake-like robot controller with cyclic inhibitory CPG model[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2005). Hong Kong, China. July 5-9, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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