具有环境适应能力的蛇形机器人仿生控制方法
The study of snake robots biomimetic control method with the environments adaptability
查看参考文献21篇
文摘
|
基于生物学原理, 本文构建了一种能够产生蛇形机器人多种仿生步态的多模态中枢模式发生器模型. 该模型通过外部激励的引入, 可以实现蛇形机器人运动形式的自由调整和转换, 有助于提高蛇形机器人的环境适应能力. 文中主要针对任意节数的多模态中枢模式发生器模型的稳定性进行了证明; 分析了多模态中枢模式发生器模型参数对系统输出的影响; 研究了蜿蜒运动中环境参数与蛇形机器人关节最优幅值的对应关系, 从而确定了多模态中枢模式发生器幅值优化调整策略; 并通过建立外部激励与模型参数之间的约束, 使得蛇形机器人在多模态中枢模式发生器控制下具有三维运动能力以及相应的环境适应能力. 最后, 利用蛇形机器人平台验证了仿生控制方法的有效性以及与生物蛇步态的相似性. |
其他语种文摘
|
Based bionic principle, this paper built a multi-phase central pattern generator model capable of producing multiply bionic gaits. This model could realize the arbitrary adjusting and transforming between different movement types of snake robots by introducing external excitatory, which will be helpful to improve the environments adaptability of snake robots. In this paper, the stability of arbitrary segments multi-phase central pattern generator was proved. The influence of multi-phase central pattern generator model parameters to system outputs was analyzed. For conclude the optimization strategy of multi-phase central pattern generator outputs amplitude, the relationship between optimal amplitude of snake robots and environments parameters in serpentine locomotion. Constrains between model parameters and external excitatory were built, which enabled snake robots controlled by multi-phase central pattern generator to move in three dimensional space and adapt to environments. Finally, the validity of this bionic control method and the similarity of snake gaits were verified with the snake robot platform. |
来源
|
中国科学. 信息科学
,2014,44(5):647-663 【核心库】
|
关键词
|
智能机器人
;
智能控制
;
自适应控制系统
;
仿生学
;
反馈控制
|
地址
|
中国科学院沈阳自动化研究所, 机器人学国家重点实验室, 沈阳, 110016
|
语种
|
中文 |
文献类型
|
研究性论文 |
ISSN
|
1674-7267 |
学科
|
自动化技术、计算机技术 |
基金
|
国家自然科学基金
|
文献收藏号
|
CSCD:5140303
|
参考文献 共
21
共2页
|
1.
Hirose S.
Biologically Inspired Robots,1993
|
被引
5
次
|
|
|
|
2.
Tanaka M. Cooperative control of three snake robots.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,2006:3688-3693
|
被引
1
次
|
|
|
|
3.
吴启迪. 生物诱导的机器人行走控制研究进展.
中国科学F辑: 信息科学,2009,39:1080-1094
|
被引
4
次
|
|
|
|
4.
Ijspeert A J. Central pattern generators for locomotion control in animals and robots: a review.
Neural Netw,2008,21:642-653
|
被引
68
次
|
|
|
|
5.
Heliot R. Multisensor input for CPG-based sensory-motor coordination.
IEEE Trans Robot,2008,24:191-195
|
被引
3
次
|
|
|
|
6.
Kimura H. Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts.
Int J Robot Res,2007,26:475-490
|
被引
41
次
|
|
|
|
7.
Arena P. An adaptive, self-organizing dynamical system for hierarchical control of bioinspired locomotion.
IEEE Trans Syst Man Cy B,2005,34:1823-1837
|
被引
6
次
|
|
|
|
8.
Crespi A. Online optimization of swimming and crawling in an amphibious snake robot.
IEEE Trans Robot,2008,24:75-87
|
被引
21
次
|
|
|
|
9.
Sfakiotakis M. Biomimetic centering for undulatory robots.
Int J Robot Res,2007,26:1267-1282
|
被引
2
次
|
|
|
|
10.
Lu Z L. Serpentine locomotion of a snake robot controlled by cyclic inhibitory CPG model.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,2005:96-101
|
被引
1
次
|
|
|
|
11.
Wu X D. Adaptive creeping locomotion of a CPG-controlled snake robot to environment change.
Aut Robot,2010,28:283-294
|
被引
10
次
|
|
|
|
12.
Bernstein N.
The Co-ordination and Regulation of Movement,1967
|
被引
3
次
|
|
|
|
13.
Cohen A H. The nature of the coupling between segmental oscillators of the lamprey spinal generator fro locomotion: a mathematical model.
J Math Biol,1982,13:345-369
|
被引
10
次
|
|
|
|
14.
Tang C Q. A cubic CPG model for snake robot to adapt to environment.
Proceedings of IEEE International Conference on Information and Automation,2010:24-29
|
被引
1
次
|
|
|
|
15.
Robinson R C.
An Introduction to Dynamic Systems,2004
|
被引
1
次
|
|
|
|
16.
Concalves J M. Regions of stability for limit cycles of piecewise linear systems.
Proceedings of IEEE Conference on Decision and Control,2003:651-656
|
被引
1
次
|
|
|
|
17.
Iwasaki T. Multivariable harmonic balance for central pattern generators.
Automatica,2008,44:3060-3069
|
被引
1
次
|
|
|
|
18.
Ma S G. Analysis of creeping locomotion of a snake robot.
Adv Robot,2001,15:205-224
|
被引
13
次
|
|
|
|
19.
Tang C Q. A self-tuning multi-phase CPG enabling the snake robot to adapt to environments.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,2011:96-101
|
被引
1
次
|
|
|
|
20.
Pearson K G. Influence of input from the forewing stretch receptors on motoneurones in flying locusts.
J Exp Bio,1990,151:317-340
|
被引
1
次
|
|
|
|
|