A cubic CPG model for snake-like robot to adapt to environment

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A cubic CPG model for snake-like robot to adapt to environment
	Tang CQ(唐超权); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
	2010
会议名称	2010 IEEE International Conference on Information and Automation, ICIA 2010
会议日期	June 20-23, 2010
会议地点	Harbin, China
关键词	Sensory feedback Serpentine Silicate minerals
页码	24-29
中文摘要	In this paper, we propose a new CPG model for the snake-like robot being able to adapt to different environments. This model can produce typical serpentine, sidewinding and traveling wave locomotion gaits and switch between them automatically based on a simple input signal. The stability of this model is verified and the parameter restrictions are determined. Then, we investigate the relationship between the properties of CPG output and the parameters. Finally, the adaptive characters of this model is discussed. We found that there is an amazing similarity between the locomotion patterns produced by the CPG model and those of the real snake. The contribution of this work makes the snake-like robot be more adaptive to complex environments.
收录类别	EI
产权排序	1
会议录	2010 IEEE International Conference on Information and Automation, ICIA 2010
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ
语种	英语
ISBN号	978-1-4244-5702-1
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8470]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Tang CQ,Ma SG,Li B,et al. A cubic CPG model for snake-like robot to adapt to environment[C]. 见:2010 IEEE International Conference on Information and Automation, ICIA 2010. Harbin, China. June 20-23, 2010.