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基于层次化联结CPG模型的蛇形机器人3维步态控制
Alternative TitleAn HCCPG Model-based 3D Gait Control of a Snake-like Robot
杨贵志; 马书根; 李斌; 王明辉
Department机器人学研究室
Source Publication机器人
ISSN1002-0446
2014
Volume36Issue:6Pages:697-703
Indexed ByEI ; CSCD
EI Accession number20151200672497
CSCD IDCSCD:5329572
Contribution Rank1
Funding Organization国家自然科学基金资助项目(61333016)
Keyword蛇形机器人 层次化联结cpg模型 3维步态 转弯步态
Abstract联结CPG(connectionist central pattern generator,CCPG)模型适于控制机器人生成步态,但是传统的CCPG 模型无法很好地生成3 维步态。为此,本文根据生物学原理,提出了一个改进的神经元模型和一个改进的层次化CCPG(hierarchical CCPG,HCCPG)模型。HCCPG 模型能够生成相位协调的多自由度运动控制信号,从而解决了传统CCPG 模型的步态生成问题。基于该模型,提出了一个统一方法来生成机器人的2维、3维步态。对转弯步态的特性进行了系统化深入分析,以便更好地利用该步态来适应狭窄的弯道环境。本文提出的HCCPG 模型以及得到的步态特性,有助于提高机器人的环境适应能力。
Other AbstractThe connectionist central pattern generator (CCPG) model is suitable for controlling robots and generating gaits, however, the traditional CCPGs can’t generate the 3D gaits well. To solve this problem, an improved neuron model and an improved hierarchical CCPG (HCCPG) model are proposed according to biology principles. HCCPG can generate the phase-coordinated multi-degrees-of-freedom motion control signals well, so it solves the gait generation problem in traditional CCPGs. Based on the HCCPG, a unified generation method is proposed for 2D gaits and 3D gaits. The properties of turning gait are investigated systematically and thoroughly to make better use of it to adapt to narrow curved passages. The proposed HCCPG model and the derived gait properties are useful for improving the robot’s adaptability
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15475
Collection机器人学研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
3.日本立命馆大学机器人系
Recommended Citation
GB/T 7714
杨贵志,马书根,李斌,等. 基于层次化联结CPG模型的蛇形机器人3维步态控制[J]. 机器人,2014,36(6):697-703.
APA 杨贵志,马书根,李斌,&王明辉.(2014).基于层次化联结CPG模型的蛇形机器人3维步态控制.机器人,36(6),697-703.
MLA 杨贵志,et al."基于层次化联结CPG模型的蛇形机器人3维步态控制".机器人 36.6(2014):697-703.
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