Gaits-transferable CPG controller for a snake-like robot

查看全文 作　　者：LU [1,3,4]ZhenLi;MA [1,2]ShuGen;LI [1]Bin;WANG [1]YueChao

机构地区：[1]Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;[2]Organization for Promotion of the COE Program, Ritsumeikan University, Shiga-Kan 525-8577, Japan;[3]Graduate School of the Chinese Academy of Sciences, Beijing 100039, China;[4]Shenyang Ligong University, Shenyang 110168, China

出　　处：《Science in China(Series F)》索引2008年第51卷第3期,共13页

基　　金：Supported in part by the National Natural Science Foundation of China (Grant No. 60375029);the National Hi-tech Research and Development Plan (Grant No. 2001AA422360);the Japan Society for the Promotion of Science Grants-in-Aid (Grant No. 15360129) 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 a 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 (BCI) CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a 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. 关键词：机器人循环抑制中心模式电机稳定性分析

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Gaits-transferable CPG controller for a snake-like robot

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