Locomotion of a snake-like robot controlled by the bidirectional cyclic inhibitory CPG model

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

	Locomotion of a snake-like robot controlled by the bidirectional cyclic inhibitory CPG model
	Lu ZL(卢振利); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
	2006
会议名称	IEEE International Conference on Robotics and Biomimetics (ROBIO 2006)
会议日期	December 17-20, 2006
会议地点	Kunming, China
关键词	snake-like robot bidirectional cyclic inhibition central pattern generator (CPG) stability analysis locomotion control
页码	1209-1214
通讯作者	卢振利
中文摘要	With slim and legless body, particular ball articulation and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory CPG model is firstly applied to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristic is discussed particularly for the generation of different kinds rhythmic locomotion. Besides, we introduce the neuron network organized by the bidirectional cyclic inhibitory CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different command from high level neuron, and present the necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ
会议录	2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-0570-1
WOS记录号	WOS:000245907302015
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8763]
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	Lu ZL,Ma SG,Li B,et al. Locomotion of a snake-like robot controlled by the bidirectional cyclic inhibitory CPG model[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006.