SIA OpenIR  > 空间自动化技术研究室
Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator
Cao, Zhengcai1; Zhang, Dong1; Hu, Biao1; Liu JG(刘金国)2
Department空间自动化技术研究室
Source PublicationComplexity
ISSN1076-2787
2019
Volume2019Pages:1-13
Indexed BySCI ; EI
EI Accession number20190706499094
WOS IDWOS:000482144300001
Contribution Rank2
Funding OrganizationNational Natural Science Foundation of China (Grant nos. 51575034, 91748102, and 91848103) ; State Key Laboratory of Robotics (2018-O15) ; State Key Laboratory of Digital Manufacturing Equipment and Technology (DMETKF2018021).
AbstractThis work investigates locomotion efficiency optimization and adaptive path following of snake-like robots in a complex environment. To optimize the locomotion efficiency, it takes energy consumption and forward velocity into account to investigate the optimal locomotion parameters of snake-like robots controlled by a central pattern generator (CPG) controller. A cuckoo search (CS) algorithm is applied to optimize locomotion parameters of the robot for environments with variable fractions and obstacle distribution. An adaptive path following method is proposed to steer the snake-like robot forward and along a desired path. The efficiency and accuracy of the proposed path following method is researched. In addition, a control framework that includes a CPG network, a locomotion efficiency optimization algorithm, and an adaptive path following method is designed to control snake-like robots move in different environments. Simulation and experimental results are presented to illustrate the performance of the proposed locomotion optimization method and adaptive path following controller for snake-like robots in complexity terrains.
Language英语
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24148
Collection空间自动化技术研究室
Corresponding AuthorZhang, Dong
Affiliation1.College of Information Science and Technology, Beijing University of Chemical Technology, Beijing; 100029, China;
2.State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang; 110016, China
Recommended Citation
GB/T 7714
Cao, Zhengcai,Zhang, Dong,Hu, Biao,et al. Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator[J]. Complexity,2019,2019:1-13.
APA Cao, Zhengcai,Zhang, Dong,Hu, Biao,&Liu JG.(2019).Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator.Complexity,2019,1-13.
MLA Cao, Zhengcai,et al."Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator".Complexity 2019(2019):1-13.
Files in This Item: Download All
File Name/Size DocType Version Access License
Adaptive Path Follow(5011KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Cao, Zhengcai]'s Articles
[Zhang, Dong]'s Articles
[Hu, Biao]'s Articles
Baidu academic
Similar articles in Baidu academic
[Cao, Zhengcai]'s Articles
[Zhang, Dong]'s Articles
[Hu, Biao]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Cao, Zhengcai]'s Articles
[Zhang, Dong]'s Articles
[Hu, Biao]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

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