Locomotion of a snake-like robot controlled by the bidirectional 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 International Conference on Robotics and Biomimetics (ROBIO 2006) |
| 会议日期 | December 17-20, 2006 |
| 会议地点 | Kunming, China |
| 关键词 | snake-like robot bidirectional cyclic inhibition central pattern generator (CPG) stability analysis locomotion control |
| 页码 | 1209-1214 |
| 通讯作者 | 卢振利 |
| 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 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 CPG model is firstly applied to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristic is discussed particularly for the generation of different kinds rhythmic locomotion. Besides, we introduce the neuron network organized by the bidirectional cyclic inhibitory CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different command from high level neuron, and present the 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ |
| 会议录 | 2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
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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 | 978-1-4244-0570-1 |
| WOS记录号 | WOS:000245907302015 |
| 源URL | [http://ir.sia.cn/handle/173321/8763]  |
| 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. Locomotion of a snake-like robot controlled by the bidirectional cyclic inhibitory CPG model[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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