CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Design and Implementation of a Novel CPG-based Locomotion Controller for Robotic Dolphin
Wang Ming; Yu Junzhi; Tan Min; Zhang Jianwei
2010
Conference Name8th World Congress on Intelligent Control and Automation
Source Publication2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Pages1611-1616
Conference Date2010.07
Conference PlaceJinan, China
AbstractThis 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. 
KeywordMultimodal Swimming  central Pattern Generation (Cpg)  locomotion Control  robotic Dolphin
Indexed ByISTP
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4919
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWang Ming
Recommended Citation
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.
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