Neurally Controlled Steering for Collision-Free Behavior of a Snake Robot
文献类型：期刊论文
| 作者 | Wu, Xiaodong; Ma SG(马书根)
|
| 刊名 | IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
 |
| 出版日期 | 2013 |
| 卷号 | 21期号:6页码:2443-2449 |
| 关键词 | Collision-free behavior neural oscillator snake robot steering |
| ISSN号 | 1063-6536 |
| 产权排序 | 2 |
| 通讯作者 | 马书根 |
| 中文摘要 | Biologically inspired snake robots have been widely studied for their various motion patterns. Most research has focused on the design of a controller for a given motion pattern. However, relatively limited work appears to have been done on the design of a controller for self-adaptive locomotion. In this brief, we add sensory inputs to a control system in order to investigate collision avoidance in a snake robot using a neural controller based on central pattern generator. From an analysis of the steering mechanism during serpentine locomotion, we derive a mathematical model of the joint configuration and the steering angle. In a neural oscillator network, steering control can be achieved via the proposed amplitude modulation method by modulating the neural oscillation parameters. A head-navigated motion pattern is employed to allow the range sensors to accurately detect obstacles for collision avoidance. Through the head-navigated locomotion, the head of the snake robot can be controlled to keep the orientation the same as the motion direction. The proposed control method is experimentally verified by application to the SR-I snake robot. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 关键词[WOS] | CENTRAL PATTERN GENERATOR ; ADAPTIVE DYNAMIC WALKING ; QUADRUPED ROBOT ; LOCOMOTION ; MODEL ; COORDINATION |
| 收录类别 | SCI ; EI |
| 资助信息 | This work was supported in part by the National Natural Science Foundation of China under Grant 60875083. Recommended by Associate Editor F. Chowdhury. (Corresponding author: S. Ma.) |
| 语种 | 英语 |
| WOS记录号 | WOS:000326105800041 |
| 公开日期 | 2013-12-27 |
| 源URL | [http://ir.sia.cn/handle/173321/14047]  |
| 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 | Wu, Xiaodong,Ma SG. Neurally Controlled Steering for Collision-Free Behavior of a Snake Robot[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2013,21(6):2443-2449. |
| APA | Wu, Xiaodong,&Ma SG.(2013).Neurally Controlled Steering for Collision-Free Behavior of a Snake Robot.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,21(6),2443-2449. |
| MLA | Wu, Xiaodong,et al."Neurally Controlled Steering for Collision-Free Behavior of a Snake Robot".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 21.6(2013):2443-2449. |
入库方式： OAI收割
来源：沈阳自动化研究所
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