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A Hierarchical Connectionist CPG Controller for Controlling the Snake-like Robot’s 3-dimensional Gaits
Yang GZ(杨贵志); Ma SG(马书根); Li B(李斌); Wang MH(王明辉)
Department机器人学研究室
Conference NameIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
Conference DateOctober 7-12, 2012
Conference PlaceVilamoura, Algarve, Portugal
Author of SourceIEEE Robotics and Automation Society
Source PublicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Publication PlaceNew York, USA
2012
Pages822-827
Indexed ByEI ; CPCI(ISTP)
EI Accession number20130415920231
WOS IDWOS:000317042701057
Contribution Rank1
ISBN978-1-4673-1735-1
Other AbstractConnectionist Central Pattern Generator models (CCPG) are helpful to understand how the CPG neural mechanism functions, and have relatively small complexity which makes them suitable for controlling snake-like robots. However, there are few CCPG models are constructed to generate the snake-like robot’s three-dimensional gaits, which are important for adapation, and their gaits generation ability is also very inadequate. According to the CPG mechanism, a hierarchical CCPG model (HCCPG) with small complexity is proposed to implement the three-dimensional gaits better. The HCCPG has a two-layers structure, namely the basic rhythmic signal generation layer and the output signal modulation layer. The HCCPG can generate three-dimensional gaits well and is extendable. Based on the HCCPG, a three-dimensional gait control method is proposed. The simulations and experiments validate this method.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10183
Collection机器人学研究室
Corresponding AuthorYang GZ(杨贵志)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016 Shenyang, China
2.Graduate University of Chinese Academy of Sciences, Beijing 100039, China
3.Department of Robotics, Ritsumeikan University, Shigaken 525-8577, Japan
Recommended Citation
GB/T 7714
Yang GZ(杨贵志),Ma SG(马书根),Li B(李斌),等. A Hierarchical Connectionist CPG Controller for Controlling the Snake-like Robot’s 3-dimensional Gaits[C]//IEEE Robotics and Automation Society. New York, USA:IEEE,2012:822-827.
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