Knowledge Commons of Institute of Automation,CAS
CPG-based Behavior Design and Implementation for a Biomimetic Amphibious Robot | |
Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min; Zhang Jianwei | |
2011 | |
会议名称 | IEEE International Conference on Robotics and Automation |
会议录名称 | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 |
会议日期 | 2011.05 |
会议地点 | Shanghai, China |
摘要 | This paper presents the behavior design and multimodal locomotion control of a biomimetic amphibious robot based on a bio-inspired CPG (central pattern generator). A set of four key parameters are introduced serving as external stimuli to shape the CPG rhythmic activities where necessary speed and orientation modulation as well as 3-D locomotion can be obtained. In terms of the built parameter set, a library of movement primitives based on finite state machine is established to facilitate rapid and smooth gait transitions. To enhance adaptive behaviors, well-integrated sensory feedback by means of two liquid-level detectors enables the gait transition between ground and water autonomously. Simulations and experiments are also conducted to demonstrate the feasibility of a behavior-based control architecture governed by CPGs. |
关键词 | Oscillators robot Sensing Systems joints turning propulsion |
收录类别 | ISTP |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/4925 |
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 Behavior Design and Implementation for a Biomimetic Amphibious Robot[C],2011. |
条目包含的文件 | 条目无相关文件。 |
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