CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot

	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.