Robust Gait Control in Biomimetic Amphibious Robot Using Central Pattern Generator

	Robust Gait Control in Biomimetic Amphibious Robot Using Central Pattern Generator
	Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min
	2010
会议名称	IEEE/RSJ International Conference on Intelligent Robots and Systems
会议录名称	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
页码	3067-3072
会议日期	2010.10
会议地点	Taipei, Taiwan
摘要	This 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.
关键词	Multi-mode Motion amphibious Robot hydrodynamic gait Control central Pattern Generator
收录类别	ISTP
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4932
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. Robust Gait Control in Biomimetic Amphibious Robot Using Central Pattern Generator[C],2010:3067-3072.