Bio-Inspired Center Pattern Generator Based Control Models

	Bio-Inspired Center Pattern Generator Based Control Models
	Yu Junzhi; Yang Qinghai; Wang Ming; 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	1617-1622
会议日期	2010.07
会议地点	Jinan, China
摘要	This paper presents an overview of the Central Pattern Generator (CPG) based control models as well as their applications to various multi-joint or multi-DOF robots. The motivation is to provide a relevant and practical guide to the existing literature for engineers with an interest in the emerging CPG-based biocybernetics approach. The CPGs function as a biological neural network with the great capability of producing stable rhythmic patterns that are robust against external perturbations. Some conventional models to emulate CPG network are firstly reviewed, and their merits and faults are analyzed. Combined the current stage of CPG-based locomotion control with its critical issues, a two-phase control architecture is formed to accomplish autonomous motions in dynamic environments. The developing prospect of the CPG-based control is finally outlined in the context of bio-robotics.
关键词	Robotics bio-inspired Control motion Control center Pattern Generator (Cpg) neural Oscillator
收录类别	ISTP
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4920
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Yang Qinghai
推荐引用方式 GB/T 7714	Yu Junzhi,Yang Qinghai,Wang Ming,et al. Bio-Inspired Center Pattern Generator Based Control Models[C],2010:1617-1622.