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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: Yang GZ(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)
EI收录号: 20130415920231
WOS记录号: WOS:000317042701057
产权排序: 1
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
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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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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

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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