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Gaits-transferable CPG controller for a snake-like robot
Lu ZL(卢振利); Ma SG(马书根); Li B(李斌); Wang YC(王越超)
Source PublicationScience in China Series F: Information Sciences
Indexed BySCI
WOS IDWOS:000252889900006
Contribution Rank1
KeywordSnake-like Robot Bidirectional Cyclic Inhibition (Bci) Central Pattern Generator (Cpg) Stability Analysis Locomotion Control
AbstractWith slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory (BCI) CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake.
WOS HeadingsScience & Technology ; Technology
WOS SubjectComputer Science, Information Systems
WOS Research AreaComputer Science
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Cited Times:5[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences
2.Organization for Promotion of the COE Program, Ritsumeikan University
3.Graduate School of the Chinese Academy of Sciences
4.Shenyang Ligong University
Recommended Citation
GB/T 7714
Lu ZL,Ma SG,Li B,et al. Gaits-transferable CPG controller for a snake-like robot[J]. Science in China Series F: Information Sciences,2008,51(3):293-305.
APA Lu ZL,Ma SG,Li B,&Wang YC.(2008).Gaits-transferable CPG controller for a snake-like robot.Science in China Series F: Information Sciences,51(3),293-305.
MLA Lu ZL,et al."Gaits-transferable CPG controller for a snake-like robot".Science in China Series F: Information Sciences 51.3(2008):293-305.
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