中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
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

浏览0
下载0
收藏0
其他版本

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。