中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: 3D locomotion of a snake-like robot controlled by cyclic inhibitory CPG model
作者: Lu ZL(卢振利) ; Ma SG(马书根) ; Li B(李斌) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期: October 9-13, 2006
会议地点: Beijing, China
会议主办者: IEEE, RSJ
会议录: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2006
页码: 3897-3902
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0258-8
关键词: snake-like robot ; 3-dimensional locomotion ; cyclic inhibition ; central pattern generator (CPG) ; stability analysis
摘要: With 3D (3-dimensional) movement's ability and rhythmic locomotion mode, a nature snake makes itself survive in rugged terrains. The rhythmic activities of most creatures are generated by the CPG (Central Pattern Generator). Based on this fact, the sustained-type neuron has been adopted to construct a cyclic inhibitory CPG model for a snake-like robot whose joints are perpendicularly connected in series. Having compared with the sustained-type neuron and the mutual inhibitory CPG, the cyclic inhibitory CPG was proven to generate capably rhythmic output with the least number of differential equations. In this paper, we introduce the neuron network organized by the cyclic inhibitory CPGs connected in line with unilateral excitation to control the 3D locomotion of a snake-like robot, and present the necessary condition for the CPG neuron network to sustain a rhythmic output. By implementing this control architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot "Perambulator", preliminary parameter setting of the CPG neuron network for its 3D locomotion is obtained. Moreover, it is shown that "Perambulator" can successfully exhibit 3D locomotion by using the output of the proposed CPG network. The obtained results have also provided a bran new approach to understand the unknown neuron network of nature snakes.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8457
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
HYQW000002.pdf(735KB)----开放获取View Download

Recommended Citation:
卢振利; 马书根; 李斌; 王越超.3D locomotion of a snake-like robot controlled by cyclic inhibitory CPG model.见:IEEE .2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12,NEW YORK,2006,3897-3902
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[卢振利]'s Articles
[马书根]'s Articles
[李斌]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[卢振利]‘s Articles
[马书根]‘s Articles
[李斌]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: HYQW000002.pdf
格式: Adobe PDF
此文件暂不支持浏览
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

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

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace