Serpentine locomotion of a snake-like robot controlled by 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

	Serpentine locomotion of a snake-like robot controlled by cyclic inhibitory CPG model
	Lu ZL(卢振利); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
	2005
会议名称	IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期	August 2-6, 2005
会议地点	Edmonton, CANADA
关键词	snake-like robot central pattern generator (CPG) cyclic inhibition serpentine locomotion locomotion control
页码	3019-3024
中文摘要	Based on the structure of both biological snakes and snake-like robots and their rhythm locomotion, the theory of the cyclic inhibitory CPG is adopted as a control method to construct a neuron network model of the snake-like robot. The relation between the CPG parameters and the serpentine locomotion of the snake-like robot is defined in this paper. The validity of the serpentine locomotion controlled by the CPG model is verified through a snake-like robot. model. The modulating methods of the CPG parameters are brought forward and simulated to realize the required turn motion and the reconfiguration. Moreover, we present that real snake-like robot can successfully exhibit serpentine locomotion by using controller output of the proposed architecture. Finally, the aspects of future researches are discussed.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, Robot Soc Japan
会议录	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	0-7803-8912-3
WOS记录号	WOS:000235632102156
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8870]
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. Serpentine locomotion of a snake-like robot controlled by cyclic inhibitory CPG model[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. Edmonton, CANADA. August 2-6, 2005.