Neural oscillator network-based controller for meandering locomotion of snake-like robots
文献类型：会议论文
| 作者 | Inoue, K.; Ma SG(马书根) ; Chenghua Jin
|
| 出版日期 | 2004 |
| 会议名称 | 2004 IEEE International Conference on Robotics and Automation. ICRA '04 |
| 会议日期 | April 26 -May 1, 2004 |
| 会议地点 | Barcelona, Spain |
| 页码 | 5064-5069 |
| 中文摘要 | In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot, we present realization of meandering motion and preliminary policies about parameter settings of the NON. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | IEEE |
| 会议录 | Proceedings - 2004 IEEE International Conference on Robotics and Automation
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| WOS记录号 | WOS:000221794800815 |
| 源URL | [http://ir.sia.cn/handle/173321/8805]  |
| 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 | Inoue, K.,Ma SG,Chenghua Jin. Neural oscillator network-based controller for meandering locomotion of snake-like robots[C]. 见:2004 IEEE International Conference on Robotics and Automation. ICRA '04. Barcelona, Spain. April 26 -May 1, 2004. |
入库方式： OAI收割
来源：沈阳自动化研究所
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