机构地区: 中国科学院
出 处: 《自动化学报》 2006年第1期133-139,共7页
摘 要: 根据生物蛇和蛇形机器人的结构及运动特点,应用循环抑制CPG建模理论构建了蛇形机器人神经网络模型;利用蛇形机器人模型,仿真验证了CPG模型对蜿蜒运动控制的有效性;提出并验证了实现有目的转弯控制的CPG参数调节方法.最后,给出了今后的研究方向. Based on the structure of both biological snakes and snake-like robots and their rhythm movement, the cyclic inhibitory CPG is adopted as a control method to construct a snake like robot neuron network model. The validity of the serpentine movement controlled by the CPG model is verified through a snake-like robot model. A modulating method of the CPG parameters is brought Forward and simulation to realize the required turning motion is carried out. Finally, the aspects of future research are discussed.
关 键 词: 蛇形机器人 中央模式发生器 循环抑制 蜿蜒运动
领 域: [自动化与计算机技术] [自动化与计算机技术]