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Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms
Wang, Gang; Chen, Xi; Han SK(韩世凯)
作者部门机器人学研究室
关键词Crab-like Robot Central Pattern Generator Hopf Oscillator Self-adaptive Control Complex Terrains
发表期刊International Journal of Advanced Robotic Systems
ISSN1729-8806
2017
卷号14期号:4页码:1-13
收录类别SCI ; EI
EI收录号20173304040710
WOS记录号WOS:000407508200001
产权排序3
资助机构National Natural Science Foundation of China under grants 51409058 and 51305088, National Basic Scientific Research Program of China under grant B2420110014, Postdoctoral Science Foundation of Heilongjiang Province of China under grant LBH-Z15035, and National Natural Science Foundation of Heilongjiang Province under grants E2016017 and F201205
摘要Although quite a few central pattern generator controllers have been developed to regulate the locomotion of terrestrial bionic robots, few studies have been conducted on the central pattern generator control technique for amphibious robots crawling on complex terrains. The present article proposes a central pattern generator and feedforward neural network-based self-adaptive gait control method for a crab-like robot locomoting on complex terrain under two reflex mechanisms. In detail, two nonlinear ordinary differential equations are presented at first to model a Hopf oscillator with limit cycle effects. Having Hopf oscillators as the basic units, a central pattern generator system is proposed for the waveform-gait control of the crab-like robot. A tri-layer feedforward neural network is then constructed to establish the one-to-one mapping between the central pattern generator rhythmic signals and the joint angles. Based on the central pattern generator system and feedforward neural network, two reflex mechanisms are put forward to realize self-adaptive gait control on complex terrains. Finally, experiments with the crab-like robot are performed to verify the waveform-gait generation and transition performances and the self-adaptive locomotion capability on uneven ground.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]AMPHIBIOUS SNAKE ROBOT ; TRAJECTORY GENERATION ; BIOLOGICAL CONCEPTS ; DYNAMIC WALKING ; QUADRUPED ROBOT ; CPG ; MODEL ; LAMPREY ; DESIGN ; FISH
WOS研究方向Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/20812
专题机器人学研究室
通讯作者Wang, Gang
作者单位1.College of Shipbuilding Engineering, Harbin Engineering University, Harbin, China
2.Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, China
3.College of Mechanical and Electrical Engineering, Heilongjiang Institute of Technology, Harbin, China
4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Wang, Gang,Chen, Xi,Han SK. Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms[J]. International Journal of Advanced Robotic Systems,2017,14(4):1-13.
APA Wang, Gang,Chen, Xi,&Han SK.(2017).Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms.International Journal of Advanced Robotic Systems,14(4),1-13.
MLA Wang, Gang,et al."Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms".International Journal of Advanced Robotic Systems 14.4(2017):1-13.
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