Bio-Inspired Center Pattern Generator Based Control Models
文献类型：会议论文
| 作者 | Yu Junzhi ; Yang Qinghai; Wang Ming; Tan Min; Zhang Jianwei
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| 出版日期 | 2010 |
| 会议名称 | 8th World Congress on Intelligent Control and Automation |
| 会议日期 | 2010.07 |
| 会议地点 | Jinan, China |
| 关键词 | robotics Bio-inspired control motion control Center Pattern Generator (CPG) neural oscillator |
| 页码 | 1617-1622 |
| 通讯作者 | Yang Qinghai |
| 英文摘要 | This paper presents an overview of the Central Pattern Generator (CPG) based control models as well as their applications to various multi-joint or multi-DOF robots. The motivation is to provide a relevant and practical guide to the existing literature for engineers with an interest in the emerging CPG-based biocybernetics approach. The CPGs function as a biological neural network with the great capability of producing stable rhythmic patterns that are robust against external perturbations. Some conventional models to emulate CPG network are firstly reviewed, and their merits and faults are analyzed. Combined the current stage of CPG-based locomotion control with its critical issues, a two-phase control architecture is formed to accomplish autonomous motions in dynamic environments. The developing prospect of the CPG-based control is finally outlined in the context of bio-robotics. |
| 收录类别 | ISTP |
| 会议录 | 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4920]  |
| 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 | Yu Junzhi,Yang Qinghai,Wang Ming,et al. Bio-Inspired Center Pattern Generator Based Control Models[C]. 见:8th World Congress on Intelligent Control and Automation. Jinan, China. 2010.07. |
入库方式： OAI收割
来源：自动化研究所
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