Design and Implementation of a Novel CPG-based Locomotion Controller for Robotic Dolphin

	Design and Implementation of a Novel CPG-based Locomotion Controller for Robotic Dolphin
	Wang Ming; Yu Junzhi; Tan Min; Zhang Jianwei
	2010
会议名称	8th World Congress on Intelligent Control and Automation
会议录名称	2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
页码	1611-1616
会议日期	2010.07
会议地点	Jinan, China
摘要	This paper presents a novel locomotion controller based on the Central Pattern Generator (CPG) model with nearest coupling for a multilink robotic dolphin. Each CPG in the model is modeled with two input saturation functions, a nonlinear oscillating neuron, and an output amplification function. Its oscillating frequency and amplitude are independently modulated. The CPG model can be amenable to rapid computation for the real-time control and to generate sufficient rhythmic patterns for dolphin-like swimming. The CPG model can be easily integrated into a microcontroller without extra hardware burden via an iterative algorithm. Design and implementation issues of the CPG-based locomotion controller are brought forth and further applied to achieve multimodal swimming. Experimental results confirm the effectiveness of the CPG-based locomotion controller in dolphin-like propulsion and maneuvering.
关键词	Multimodal Swimming central Pattern Generation (Cpg) locomotion Control robotic Dolphin
收录类别	ISTP
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4919
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
推荐引用方式 GB/T 7714	Wang Ming,Yu Junzhi,Tan Min,et al. Design and Implementation of a Novel CPG-based Locomotion Controller for Robotic Dolphin[C],2010:1611-1616.