CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Parameter design for a Central Pattern Generator based locomotion controller
Wang, Ming1; Yu, Junzhi1; Tan, Min1; Wang Ming
2008
Conference Name1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Source PublicationInternational Conference on Intelligent Robotics and Applications, ICIRA
Conference DateOctober 15, 2008 - October 17, 2008
Conference PlaceWuhan, China
AbstractThe paper addresses a novel parameter design method for a locomotion controller based on the Central Pattern Generator (CPG) to generate diverse locomotion behaviors for link-based fish robots. Since almost all mathematical models of the CPG represented by differential equations have many parameters, it is very intractable to design and modulate these quantities. To partly tackle this problem, an iterative technique centered parameter determination method is formulated, into which the relationship between fish-inspired body wave and the multi-link mechanical structure is fused. The formed algorithm is simple, easy to implement and suitable for engineering application. A simulation example of a three-link robotic fish is further illustrated. The results show the effectiveness of the approach which can be extended to control biomimetic robotic fish and other multi-link robots. Moreover, many related CPG mathematical models can be dealt with by the proposed method.
KeywordLocomotion Control Central Pattern Generator Robotic Fish Parameter Design Motion Pattern
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13059
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang Ming
Affiliation1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2. School of Information and Electric Engineering, Shandong Jianzhu University, Jinan 250101, China
Recommended Citation
GB/T 7714
Wang, Ming,Yu, Junzhi,Tan, Min,et al. Parameter design for a Central Pattern Generator based locomotion controller[C],2008.
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