Serpentine 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 | 2005 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | August 2-6, 2005 |
| 会议地点 | Edmonton, CANADA |
| 关键词 | snake-like robot central pattern generator (CPG) cyclic inhibition serpentine locomotion locomotion control |
| 页码 | 3019-3024 |
| 中文摘要 | Based on the structure of both biological snakes and snake-like robots and their rhythm locomotion, the theory of the cyclic inhibitory CPG is adopted as a control method to construct a neuron network model of the snake-like robot. The relation between the CPG parameters and the serpentine locomotion of the snake-like robot is defined in this paper. The validity of the serpentine locomotion controlled by the CPG model is verified through a snake-like robot. model. The modulating methods of the CPG parameters are brought forward and simulated to realize the required turn motion and the reconfiguration. Moreover, we present that real snake-like robot can successfully exhibit serpentine locomotion by using controller output of the proposed architecture. Finally, the aspects of future researches are discussed. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, Robot Soc Japan |
| 会议录 | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-8912-3 |
| WOS记录号 | WOS:000235632102156 |
| 源URL | [http://ir.sia.cn/handle/173321/8870]  |
| 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. Serpentine locomotion of a snake-like robot controlled by cyclic inhibitory CPG model[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton, CANADA. August 2-6, 2005. |
入库方式： OAI收割
来源：沈阳自动化研究所
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