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题名:
A Hierarchical Connectionist CPG Controller for Controlling the Snake-like Robot’s 3-dimensional Gaits
作者: Yang GZ(杨贵志); Ma SG(马书根); Li B(李斌); Wang MH(王明辉)
作者部门: 机器人学研究室
通讯作者: 杨贵志
会议名称: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
会议日期: October 7-12, 2012
会议地点: Vilamoura, Algarve, Portugal
会议主办者: IEEE Robotics and Automation Society
会议录: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
会议录出版者: IEEE
会议录出版地: New York, USA
出版日期: 2012
页码: 822-827
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4673-1735-1
摘要: Connectionist 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.
语种: 英语
产权排序: 1
EI收录号: 20130415920231
WOS记录号: WOS:000317042701057
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10183
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Yang GZ,Ma SG,Li B,et al. A Hierarchical Connectionist CPG Controller for Controlling the Snake-like Robot’s 3-dimensional Gaits[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012). Vilamoura, Algarve, Portugal. October 7-12, 2012.A Hierarchical Connectionist CPG Controller for Controlling the Snake-like Robot’s 3-dimensional Gaits.
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文件名: A Hierarchical Connectionist CPG Controller for Controlling the Snake-Like Robot's 3-Dimension.pdf
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