CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Robust Gait Control in Biomimetic Amphibious Robot Using Central Pattern Generator
Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min
2010
Conference NameIEEE/RSJ International Conference on Intelligent Robots and Systems
Source PublicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3067-3072
Conference Date2010.10
Conference PlaceTaipei, Taiwan
AbstractThis paper presents a control architecture for the underwater locomotion control of a biomimetic amphibious robot with multi-mobility mechanism. In view of both hydrodynamic problem and engineering approach, we develop a robotic prototype capable of multi-mode motion. A robust gait control for steady swimming using the central pattern generator (CPG) is proposed and has been successfully applied to the robot. The CPG can produce coordinated patterns of rhythmic activity while being simply modulated by control parameters including input drive, frequency, amplitude, threshold, etc., which will be suitable for manually interactive modulation. Using the CPG model, the robot is capable of performing and switching between various locomotion modes such as swimming forwards and backwards, turning and pitching, with the speed, direction and gait types modulated accordingly. A test-bed is provided and results are presented demonstrating interesting properties of the CPG-based control approach and feasibility of the CPG control for efficient propulsion. 
KeywordMulti-mode Motion  amphibious Robot  hydrodynamic  gait Control  central Pattern Generator
Indexed ByISTP
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4932
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorDing Rui
Recommended Citation
GB/T 7714
Ding Rui,Yu Junzhi,Yang Qinghai,et al. Robust Gait Control in Biomimetic Amphibious Robot Using Central Pattern Generator[C],2010:3067-3072.
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