| 一种用于多足步行机器人步态控制的CPG模型 |
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| 引用本文： | 袁鹏. 一种用于多足步行机器人步态控制的CPG模型[J]. 制造业自动化, 2007, 29(10): 34-39 |
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| 作者姓名： | 袁鹏 |
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| 作者单位： | 中国海洋大学,工程学院,青岛,266100 |
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| 摘 要： | 基于对生物节律性周期运动的CPG控制的概念,采用Lakshmanan和Murali的双变量简化Hodgkin-Huxley振荡神经元模型作为CPG的振子。对该模型进行了不动点及稳定性分析和分岔分析,指出了其二次Hopf分岔特性和振荡条件。在此基础上,建立了一种用于八足步行机器人步态控制的CPG模型。通过分阶段遗传算法,分别针对几种步态进行了参数优化,通过仿真验证了所提出的CPG模型的可行性。
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| 关 键 词： | CPG 步态 多足步行机器人 |
| 文章编号： | 1009-0134（2007）10-0034-08 |
| 修稿时间： | 2007-05-21 |
A CPG model of multi-legged walking robot gait controlling |
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| YUAN Peng. A CPG model of multi-legged walking robot gait controlling[J]. Manufacturing Automation, 2007, 29(10): 34-39 |
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| Authors: | YUAN Peng |
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| Affiliation: | College of Engineering, Ocean University of China, Qingdao 266100, China |
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| Abstract: | Based on the anatomy fact that the rhythmic motor pattern is controlled by CPG function modular,the conception of CPG control in multi-legged gait is presented.Neuraxon's nonlinear oscillation model given by Lakshmanan and Murali is analyzed,Hopf bifurcation phenomenon and effects of parameters on its oscillation behavior are discussed.A CPG model for multi-legged walking robot's gait control is made by adopting the neuron oscillator,parameters of the model is optimized by using multi-stage genetic algorithm and some gaits are generated using this model by simulation.Simulation result proved the constructed CPG model is feasible. |
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| Keywords: | CPG gait multi-legged walking robot |
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