Robust Gait Control in Biomimetic Amphibious Robot Using Central Pattern Generator
文献类型：会议论文
| 作者 | Ding Rui; Yu Junzhi ; Yang Qinghai; Tan Min
|
| 出版日期 | 2010 |
| 会议名称 | IEEE/RSJ International Conference on Intelligent Robots and Systems |
| 会议日期 | 2010.10 |
| 会议地点 | Taipei, Taiwan |
| 关键词 | multi-mode motion Amphibious robot hydrodynamic gait control central pattern generator |
| 页码 | 3067-3072 |
| 通讯作者 | Ding Rui |
| 英文摘要 | This paper presents a control architecture for the underwater locomotion control of a biomimetic amphibious robot with multi-mobility mechanism. In view of both hydrodynamic problem and engineering approach, we develop a robotic prototype capable of multi-mode motion. A robust gait control for steady swimming using the central pattern generator (CPG) is proposed and has been successfully applied to the robot. The CPG can produce coordinated patterns of rhythmic activity while being simply modulated by control parameters including input drive, frequency, amplitude, threshold, etc., which will be suitable for manually interactive modulation. Using the CPG model, the robot is capable of performing and switching between various locomotion modes such as swimming forwards and backwards, turning and pitching, with the speed, direction and gait types modulated accordingly. A test-bed is provided and results are presented demonstrating interesting properties of the CPG-based control approach and feasibility of the CPG control for efficient propulsion. |
| 收录类别 | ISTP |
| 会议录 | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/4932]  |
| 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. Robust Gait Control in Biomimetic Amphibious Robot Using Central Pattern Generator[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Taipei, Taiwan. 2010.10. |
入库方式： OAI收割
来源：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。