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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)
作者部门机器人学研究室
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
会议录名称Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
出版者IEEE
出版地New York, USA
2012
页码822-827
收录类别EI ; CPCI(ISTP)
EI收录号20130415920231
WOS记录号WOS:000317042701057
产权排序1
ISBN号978-1-4673-1735-1
其他摘要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
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10183
专题机器人学研究室
通讯作者Yang GZ(杨贵志)
作者单位1.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
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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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