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CPG-based control of serpentine locomotion of a snake-like robot?
Wu XD(吴小东); Ma SG(马书根)
Department机器人学研究室
Conference Name9th IFAC Symposium on Robot Control, SYROCO 2009
Conference DateSeptember 9-12, 2009
Conference PlaceGifu, Japan
Author of SourceInternational Federation of Automatic Control (IFAC) - Technical Committe on Robotics (TC 4.3)
Source Publication9th IFAC Symposium on Robot Control, SYROCO 2009
PublisherIFAC Secretariat
Publication PlaceLaxenburg, Austria
2009
Pages705-710
Indexed ByEI
EI Accession number20165203173555
Contribution Rank2
ISSN1474-6670
KeywordSnake-like Robot Cpg Feedback Connection Cpg Parameters Motion Control
AbstractIn this paper, a biomimetic approach is proposed to solve the dificulty in control of a snake-like robot with a large number of degrees of freedom. This method is based on the Central Pattern Generator (CPG), which is a rhythmical motion generator existing in most animals. Compared with the previous CPG networks, a new network with feedback connection is presented, which can generate uniform outputs without any adjustment. Furthermore, the relation characteristics between the CPG parameters and the outputs are investigated. Both simulation and experiment of the snake-like robot have been taken for analysis of the CPG- based locomotion control.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19730
Collection机器人学研究室
Affiliation1.Department of Robotics, Ritsumeikan University, Japan
2.Shenyang Institute of Automation, CAS, China
Recommended Citation
GB/T 7714
Wu XD,Ma SG. CPG-based control of serpentine locomotion of a snake-like robot?[C]//International Federation of Automatic Control (IFAC) - Technical Committe on Robotics (TC 4.3). Laxenburg, Austria:IFAC Secretariat,2009:705-710.
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