Fish-inspired swimming simulation and robotic implementation
Yu Junzhi; Tan Min; Zhang Jianwei
2010
会议名称ISR/ROBOTIK 2010
会议录名称2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
会议日期2010.06
会议地点Munich, Germany
摘要This paper presents an overview of the Central Pattern Generator (CPG) based control models as well as their applications to various multi-joint or multi-DOF robots. The motivation is to provide a relevant and practical guide to the existing literature for engineers with an interest in the emerging CPG-based biocybernetics approach. The CPGs function as a biological neural network with the great capability of producing stable rhythmic patterns that are robust against external perturbations. Some conventional models to emulate CPG network are firstly reviewed, and their merits and faults are analyzed. Combined the current stage of CPG-based locomotion control with its critical issues, a two-phase control architecture is formed to accomplish autonomous motions in dynamic environments. The developing prospect of the CPG-based control is finally outlined in the context of bio-robotics.
关键词Marine Animals  propulsion  robot Kinematics  oscillators  three Dimensional Displays Skeleton
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13055
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu Junzhi
推荐引用方式
GB/T 7714
Yu Junzhi,Tan Min,Zhang Jianwei. Fish-inspired swimming simulation and robotic implementation[C],2010.
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