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题名: Design of a snake-like robot controller with 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 International Conference on Robotics and Biomimetics (ROBIO 2005)
会议日期: July 5-9, 2005
会议地点: Hong Kong, China
会议录: 2005 IEEE International Conference on Robotics and Biomimetics
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2005
页码: 35-40
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-9315-5
关键词: snake-like robot ; serpentine locomotion ; cyclic inhibitory CPG ; locomotion control ; stability analyzation
摘要: Snake-like robots that behaves biological snakes' characteristics have possibility to make them supremely adapted for environment. In this paper, we firstly design a snake-like robot controller with cyclic inhibitory CPG model, and then analyze the stability of single neuron, CPG model and the neuron oscillator network (NON). By implementing this control architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot named "Perambulator-I", we present preliminary policies about parameter setting of the CPG controller for serpentine locomotion. Moreover, we show that "Perambulator-I" can successfully exhibit serpentine locomotion by using controller output of the proposed architecture. This paper provides a realistic approach to design an artificial CPG controller.
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/173321/8642
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
卢振利; 马书根; 李斌; 王越超.Design of a snake-like robot controller with cyclic inhibitory CPG model.见:IEEE .2005 IEEE International Conference on Robotics and Biomimetics,NEW YORK,2005,35-40
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