CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot
文献类型：会议论文
| 作者 | Ding Rui; Yu Junzhi ; Yang Qinghai; Tan Min; Zhang Jianwei
|
| 出版日期 | 2010 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics |
| 会议日期 | 2009.12 |
| 会议地点 | Guilin, China |
| 关键词 | Biomimetics Robot kinematics Propulsion, Mobile robots Marine animals, Motion control Hydrodynamics Legged locomotion Lagrangian functions Tail |
| 页码 | 1657-1662 |
| 通讯作者 | Ding Rui |
| 英文摘要 | This paper deals with the motion control and dynamics modeling of an amphibious biomimetic robot capable of multi-mode motion. A robust gait control for steady swimming using a central pattern generator (CPG) is proposed and has been successfully applied to the robot, with coordinated movements of a pair of pectoral fins and multiple modular fish-like propelling units. Combined with the hydrodynamic forces acting on the robot, a dynamics modeling based on the Lagrangian function has been established. Then some simulations are conducted with the CPG control imported into the model. By varying the input drive of the CPG model, different activities of swimming mode can be induced with the velocity, direction and type of gaits modulated accordingly. Physical tests verify the feasibility of the dynamics model coupling of the CPG control for efficient propulsion. |
| 收录类别 | ISTP |
| 会议录 | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4911]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 推荐引用方式 GB/T 7714 | Ding Rui,Yu Junzhi,Yang Qinghai,et al. CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot[C]. 见:IEEE International Conference on Robotics and Biomimetics. Guilin, China. 2009.12. |
入库方式： OAI收割
来源：自动化研究所
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