CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot
Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min; Zhang Jianwei
2010
Conference NameIEEE International Conference on Robotics and Biomimetics
Source Publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 
Pages1657-1662
Conference Date2009.12
Conference PlaceGuilin, China
AbstractThis paper deals with the motion control and dynamics modeling of an amphibious biomimetic robot capable of multi-mode motion. A robust gait control for steady swimming using a central pattern generator (CPG) is proposed and has been successfully applied to the robot, with coordinated movements of a pair of pectoral fins and multiple modular fish-like propelling units. Combined with the hydrodynamic forces acting on the robot, a dynamics modeling based on the Lagrangian function has been established. Then some simulations are conducted with the CPG control imported into the model. By varying the input drive of the CPG model, different activities of swimming mode can be induced with the velocity, direction and type of gaits modulated accordingly. Physical tests verify the feasibility of the dynamics model coupling of the CPG control for efficient propulsion.
KeywordBiomimetics  robot Kinematics  propulsion  hydrodynamics  mobile Robots  marine Animals  legged Locomotion  motion Control  lagrangian Functions  tail
Indexed ByISTP
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4911
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorDing Rui
Recommended Citation
GB/T 7714
Ding Rui,Yu Junzhi,Yang Qinghai,et al. CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot[C],2010:1657-1662.
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