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题名: A self-tuning multi-phase CPG enabling the snake robot to adapt to environments
作者: Tang CQ(唐超权) ; 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: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
会议日期: September 25-30, 2011
会议地点: San Francisco, CA, United states
会议主办者: IEEE Robotics and Automation Society (RAS); IEEE Industrial Electronics Society (IES); Robotics Society of Japan (RSJ); Society of Instrument and Control Engineers (SICE); New Technology Foundation (NTF)
会议录: IEEE International Conference on Intelligent Robots and Systems
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2011
页码: 1869-1874
收录类别: CPCI(ISTP) ; EI
ISBN号: 9781612844541
关键词: Animals ; Biomimetics ; Control system analysis ; Dynamic analysis ; Robotics
摘要: Making biomimetic robots move like natural animals is an interesting problem, because this topic involves not only the low level algorithm that controls the movement of robots' bodies and limbs but also the high level control strategy that deals with different kinds of situations. Based on a certain biological assumption, a self-tuning multi-phase CPG for snake robots is proposed. This method imitates the control strategy of natural snake's movement in different environments, which enables the snake robot to move more quickly and naturally. Through kinematic and dynamic analysis of snake robots, optimal control parameters are chosen for the decision strategy. Due to the intrinsic property of the multi-phase CPG, this model can change the movement patterns and control parameters autonomously according to external information. As a result, such neural control provides a powerful but simple way to self-tune adaptable behaviors in snake robots.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8519
Appears in Collections:机器人学研究室_会议论文

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