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题名: Neurally Controlled Steering for Collision-Free Behavior of a Snake Robot
作者: Wu, Xiaodong ; Ma SG(马书根)
作者部门: 机器人学研究室
关键词: Collision-free behavior ; neural oscillator ; snake robot ; steering
刊名: IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
ISSN号: 1063-6536
出版日期: 2013
卷号: 21, 期号:6, 页码:2443-2449
收录类别: SCI ; EI
产权排序: 2
摘要: Biologically inspired snake robots have been widely studied for their various motion patterns. Most research has focused on the design of a controller for a given motion pattern. However, relatively limited work appears to have been done on the design of a controller for self-adaptive locomotion. In this brief, we add sensory inputs to a control system in order to investigate collision avoidance in a snake robot using a neural controller based on central pattern generator. From an analysis of the steering mechanism during serpentine locomotion, we derive a mathematical model of the joint configuration and the steering angle. In a neural oscillator network, steering control can be achieved via the proposed amplitude modulation method by modulating the neural oscillation parameters. A head-navigated motion pattern is employed to allow the range sensors to accurately detect obstacles for collision avoidance. Through the head-navigated locomotion, the head of the snake robot can be controlled to keep the orientation the same as the motion direction. The proposed control method is experimentally verified by application to the SR-I snake robot.
语种: 英语
WOS记录号: WOS:000326105800041
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems ; Engineering, Electrical & Electronic
关键词[WOS]: CENTRAL PATTERN GENERATOR ; ADAPTIVE DYNAMIC WALKING ; QUADRUPED ROBOT ; LOCOMOTION ; MODEL ; COORDINATION
研究领域[WOS]: Automation & Control Systems ; Engineering
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14047
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
Wu, Xiaodong; 马书根.Neurally Controlled Steering for Collision-Free Behavior of a Snake Robot,IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2013,21(6):2443-2449
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文件名: Neurally Controlled Steering for Collision-Free Behavior of a Snake Robot.pdf
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