A self-tuning multi-phase CPG enabling the snake robot to adapt to environments | |
Tang CQ(唐超权); Ma SG(马书根)![]() ![]() ![]() | |
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
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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. |
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