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题名:
Knowledge presentation by the MNSM-based controller for swimming motion of a snake-like robot
作者: Lu ZL(卢振利); Xie YF(谢亚飞); Xu HG(徐惠钢); Branislav, Borovac; Li B(李斌)
作者部门: 机器人学研究室
通讯作者: Lu ZL(卢振利)
关键词: mirror neuron system mechanism (MNSM) ; swimming motion ; snake-like robot ; knowledge presentation
刊名: High Technology Letters
ISSN号: 1006-6748
出版日期: 2018
卷号: 24, 期号:1, 页码:103-112
收录类别: EI
EI收录号: 20181905138026
产权排序: 1
项目资助者: National Natural Science Foundation of China (No.61333016)
摘要: A MNSM (mirror neuron system mechanism)-based controller is developed to present the swimming rhythm of a snake-like robot in Cartesian space. From engineering viewpoint, the proposed controller is composed of a neuron for rhythm angle and two neurons for motion knowledge in XY plane. The given knowledge is a rhythm curve for swimming motion of a snake-like robot. Experimental results show that the proposed controller can present the knowledge of swimming rhythm, which represents the corresponding control law to drive the snake-like robot to swim with different speeds and turning motion. This work provides a novel method to present the knowledge for swimming motion of snake-like robots.
语种: 英语
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/21868
Appears in Collections:机器人学研究室_期刊论文

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作者单位: 1.School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110014, China
3.School of Information and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China
4.Faculty of Technical Sciences, University of Novi Sad, Novi Sad 21000, Serbia

Recommended Citation:
Lu ZL,Xie YF,Xu HG,et al. Knowledge presentation by the MNSM-based controller for swimming motion of a snake-like robot[J]. High Technology Letters,2018,24(1):103-112.
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文件名: Knowledge presentation by the MNSM-based controller for swimming motion of a snake-like robot.pdf
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