SIA OpenIR  > 机器人学研究室
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)
Department机器人学研究室
Source PublicationInternational Journal of Advanced Robotic Systems
ISSN1729-8806
2017
Volume14Issue:4Pages:1-13
Indexed BySCI ; EI
EI Accession number20173304040710
WOS IDWOS:000407508200001
Contribution Rank3
Funding OrganizationNational 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
KeywordCrab-like Robot Central Pattern Generator Hopf Oscillator Self-adaptive Control Complex Terrains
AbstractAlthough 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectRobotics
WOS KeywordAMPHIBIOUS SNAKE ROBOT ; TRAJECTORY GENERATION ; BIOLOGICAL CONCEPTS ; DYNAMIC WALKING ; QUADRUPED ROBOT ; CPG ; MODEL ; LAMPREY ; DESIGN ; FISH
WOS Research AreaRobotics
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/20812
Collection机器人学研究室
Corresponding AuthorWang, Gang
Affiliation1.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
Recommended Citation
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.
Files in This Item:
File Name/Size DocType Version Access License
Central pattern gene(1626KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Wang, Gang]'s Articles
[Chen, Xi]'s Articles
[Han SK(韩世凯)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Wang, Gang]'s Articles
[Chen, Xi]'s Articles
[Han SK(韩世凯)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Wang, Gang]'s Articles
[Chen, Xi]'s Articles
[Han SK(韩世凯)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 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.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.