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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)
作者部门机器人学研究室
会议名称9th IFAC Symposium on Robot Control, SYROCO 2009
会议日期September 9-12, 2009
会议地点Gifu, Japan
会议主办者International Federation of Automatic Control (IFAC) - Technical Committe on Robotics (TC 4.3)
会议录名称9th IFAC Symposium on Robot Control, SYROCO 2009
出版者IFAC Secretariat
出版地Laxenburg, Austria
2009
页码705-710
收录类别EI
EI收录号20165203173555
产权排序2
ISSN号1474-6670
关键词Snake-like Robot Cpg Feedback Connection Cpg Parameters Motion Control
摘要In 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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19730
专题机器人学研究室
作者单位1.Department of Robotics, Ritsumeikan University, Japan
2.Shenyang Institute of Automation, CAS, China
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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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文件名: CPG-based Control of Serpentine Locomotion of a Snake-like Robot.pdf
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