Optimization of CPG-network for decentralized control of a snake-like robot
文献类型：会议论文
| 作者 | Inoue, K.; Ma SG(马书根) ; Chenghua Jin
|
| 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 | central pattern generator snake-like robots genetic algorithm |
| 页码 | 730-735 |
| 中文摘要 | Periodic locomotion of animal bodies with large degree of freedom is known to be realized by decentralized control using network of central pattern generators (CPGs) that are distributed in spinal cord (in vertebrates) or nerve cords (in invertebrates). In this paper, optimization of a decentralized controller for a snake-like robot based on CPG-network is presented. The controller is composed of CPGs on every robot joints and connections between them. Oscillations of CPGs are coordinated by propagating them each other. For several types of network structure, genetic algorithm (GA) is used to optimize neural parameters, i.e. CPG parameters and synaptic weights. As a result, we derived a CPG-network that is optimal in terms of moving speed |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | 2005 IEEE International Conference on Robotics and Biomimetics
 |
| 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:000241317800132 |
| 源URL | [http://ir.sia.cn/handle/173321/8820]  |
| 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. Optimization of CPG-network for decentralized control of a snake-like robot[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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