Knowledge Commons of Institute of Automation,CAS
Parameter design for a Central Pattern Generator based locomotion controller | |
Wang, Ming1; Yu, Junzhi1![]() ![]() | |
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 | 复杂系统认知与决策实验室_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 |
第一作者单位 | 中国科学院自动化研究所 |
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. |
条目包含的文件 | 条目无相关文件。 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论