A self-tuning multi-phase CPG enabling the snake robot to adapt to environments

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 self-tuning multi-phase CPG enabling the snake robot to adapt to environments
	Tang CQ(唐超权); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
	2011
会议名称	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
会议日期	September 25-30, 2011
会议地点	San Francisco, CA, United states
关键词	Animals Biomimetics Control system analysis Dynamic analysis Robotics
页码	1869-1874
中文摘要	Making biomimetic robots move like natural animals is an interesting problem, because this topic involves not only the low level algorithm that controls the movement of robots' bodies and limbs but also the high level control strategy that deals with different kinds of situations. Based on a certain biological assumption, a self-tuning multi-phase CPG for snake robots is proposed. This method imitates the control strategy of natural snake's movement in different environments, which enables the snake robot to move more quickly and naturally. Through kinematic and dynamic analysis of snake robots, optimal control parameters are chosen for the decision strategy. Due to the intrinsic property of the multi-phase CPG, this model can change the movement patterns and control parameters autonomously according to external information. As a result, such neural control provides a powerful but simple way to self-tune adaptable behaviors in snake robots.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robotics and Automation Society (RAS); IEEE Industrial Electronics Society (IES); Robotics Society of Japan (RSJ); Society of Instrument and Control Engineers (SICE); New Technology Foundation (NTF)
会议录	IEEE International Conference on Intelligent Robots and Systems
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-61284-454-1
WOS记录号	WOS:000297477502034
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8519]
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 self-tuning multi-phase CPG enabling the snake robot to adapt to environments[C]. 见:2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11. San Francisco, CA, United states. September 25-30, 2011.