Knowledge Commons of Institute of Automation,CAS
CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot | |
Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min; Zhang Jianwei | |
2010 | |
会议名称 | IEEE International Conference on Robotics and Biomimetics |
会议录名称 | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO |
页码 | 1657-1662 |
会议日期 | 2009.12 |
会议地点 | Guilin, China |
摘要 | This 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. |
关键词 | Biomimetics robot Kinematics propulsion hydrodynamics mobile Robots marine Animals legged Locomotion motion Control lagrangian Functions tail |
收录类别 | ISTP |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/4911 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Ding Rui |
推荐引用方式 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. |
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