| 基于循环抑制CPG模型控制的蛇形机器人蜿蜒运动 |
| |
| 引用本文： | 卢振利,马书根,李斌,王越超.基于循环抑制CPG模型控制的蛇形机器人蜿蜒运动[J].自动化学报,2006,32(1):133-139. |
| |
| 作者姓名： | 卢振利 马书根 李斌 王越超 |
| |
| 作者单位： | 1.中国科学院沈阳自动化所 机器人学重点实验室 沈阳 110016 |
| |
| 基金项目： | 中国科学院资助项目;国家科技攻关项目 |
| |
| 摘 要： | 根据生物蛇和蛇形机器人的结构及运动特点，应用循环抑制CPG建模理论构建了蛇形机器人神经网络模型；利用蛇形机器人模型，仿真验证了CPG模型对蜿蜒运动控制的有效性；提出并仿真验证了实现有目的转弯控制的CPG参数调节方法。最后，给出了今后的研究方向。
|
| 关 键 词： | 蛇形机器人 中央模式发生器 循环抑制 蜿蜒运动 |
| 收稿时间： | 2004-09-29 |
| 修稿时间： | 2005-09-23 |
Serpentine Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model |
| |
| LU Zhen-Li,MA Shu-Gen,LI Bin,WANG Yue-Chao.Serpentine Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model[J].Acta Automatica Sinica,2006,32(1):133-139. |
| |
| Authors: | LU Zhen-Li MA Shu-Gen LI Bin WANG Yue-Chao |
| |
| Affiliation: | 1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016 |
| |
| Abstract: | Based on the structure of both biological snakes and snake-like robots and their rhythm movement, the cyclic inhibitory CPG is adopted as a control method to construct a snake like robot neuron network model. The validity of the serpentine movement controlled by the CPG model is verified through a snake-like robot model. A modulating method of the CPG parameters is brought Forward and simulation to realize the required turning motion is carried out. Finally, the aspects of future research are discussed. |
| |
| Keywords: | Snake-like robot central pattern generator (CPG) cyclic inhibition serpentine locomotion |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《自动化学报》浏览原始摘要信息 |
|
点击此处可从《自动化学报》下载全文 |
