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Sensor-driven neural controller for self-adaptive collision-free behavior 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2011 IEEE International Conference on Robotics and Automation
会议日期May 9-13, 2011
会议地点Shanghai, China
会议主办者IEEE Robotics and Automation Society
会议录名称IEEE International Conference on Robotics and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2011
页码191-196
收录类别EI ; CPCI(ISTP)
EI收录号20130115863405
WOS记录号WOS:000295396600031
产权排序2
ISSN号1050-4729
ISBN号978-1-61284-386-5
摘要Biologically inspired control approaches based on the central pattern generator (CPG) have been studied to apply to a snake-like robot. One of the important problems is to determine how to construct a sensor-driven neural system in order to control the robot for adaptive locomotion. To solve this problem, a sensor-based neural network is presented in this paper. To realize collision-free behavior of the snake-like robot, three IR range sensors were used to obtain the obstacle information. By analyzing the motion strategies for the snakelike robot, a signal feedback network was constructed based on the neuron model. The sensory signals were used as the adjusted values for the input of CPG oscillators. By changing the driving input of the extensor neurons or flexor neurons in the CPG network, the snake-like robot could perform the desired turning motion to avoid the obstacles. The performance of the proposed sensor-driven neural controller was verified by conducting an experiment on a snake robot in an environment with obstacles.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20068
专题机器人学研究室
通讯作者Wu XD(吴小东)
作者单位1.Department of Robotics, Ritsumeikan University, 525-8577 Shiga, Japan
2.Shenyang Institute of Automation, CAS, China
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Wu XD,Ma SG. Sensor-driven neural controller for self-adaptive collision-free behavior of a snake-like robot[C]//IEEE Robotics and Automation Society. Piscataway, NJ, USA:IEEE,2011:191-196.
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