Parameter design for a Central Pattern Generator based locomotion controller
Wang, Ming1; Yu, Junzhi1; Tan, Min1; Wang Ming
2008
会议名称1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
会议录名称International Conference on Intelligent Robotics and Applications, ICIRA
会议日期October 15, 2008 - October 17, 2008
会议地点Wuhan, China
摘要The 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.
关键词Locomotion Control Central Pattern Generator Robotic Fish Parameter Design Motion Pattern
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13059
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Wang Ming
作者单位1. 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
推荐引用方式
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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