Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change

被引：70

作者：

Wu, Xiaodong ^{[1
]}

Ma, Shugen ^{[1
,2
]}

机构：

[1] Ritsumeikan Univ, Coll Sci & Engn, Dept Robot, Kusatsu, Shiga 5258577, Japan

[2] Shenyang Inst Automat, Shenyang 110015, Peoples R China

来源：

AUTONOMOUS ROBOTS | 2010年 / 28卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Snake-like robot; CPG network; Feedback connection; Motion control; Adaptive locomotion; CENTRAL PATTERN GENERATORS;

D O I：

10.1007/s10514-009-9168-1

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we present a biomimetic approach which is based on Central Pattern Generator (CPG) to solve the difficulty in control of a snake-like robot with a large number of degrees of freedom. A new network with a feedback connection is proposed, which can generate uniform outputs without any additional adjustment. The relations between the CPG parameters and the characteristics of output are also investigated. A simulation platform is also established for the analysis of the CPG-based locomotion control of a snake-like robot. To figure out adaptive creeping locomotion of the robot to the environment with changed friction or the given slope, the relations of CPG parameters and locomotion efficiency by the proposed curvature adaptive principle have been discussed.

引用

页码：283 / 294

页数：12

共 20 条

[1]

[Anonymous], 2003, Proceedings of the International Conference on Artificial Neural Networks

[2] A COMBINED NEURONAL AND MECHANICAL MODEL OF FISH SWIMMING [J].

EKEBERG, O .

BIOLOGICAL CYBERNETICS, 1993, 69 (5-6) :363-374

[3] Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts [J].

Fukuoka, Y ;

Kimura, H ;

Cohen, AH .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2003, 22 (3-4) :187-202

[4]

Hirose S., 1993, Biologically Inspired Robots: Snake-like Locomotors and Manipulators

[5] Central pattern generators for locomotion control in animals and robots: A review [J].

Ijspeert, Auke Jan .

NEURAL NETWORKS, 2008, 21 (04) :642-653

[6] Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model [J].

Ijspeert, Auke Jan ;

Crespi, Alessandro .

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :262-268

[7] Neural oscillator network-based controller for meandering locomotion of snake-like robots [J].

Inoue, K ;

Ma, SG ;

Jin, CH .

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, :5064-5069

[8]

Inoue K, 2007, 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, P1963

[9]

Lu ZL, 2005, 2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P3019

[10] Analysis of creeping locomotion of a snake-like robot on a slope [J].

Ma, SG ;

Tadokoro, N .

AUTONOMOUS ROBOTS, 2006, 20 (01) :15-23

← 1 2 →