基于cpg的沙漠蜘蛛滚动运动控制方法

2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2016-07-08 DOI:10.1109/ARSO.2016.7736289

Ruidong Shi, Xiuli Zhang, Yao-bin Tian, Shouyang Dong, Yan-an Yao

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引用次数: 11

摘要

沙漠蜘蛛在逃跑时使用滚动运动。针对这一特点，提出了一种基于Hopf非线性振子的中心模式发生器(CPG)模型来控制蜘蛛机器人的滚动运动。该蜘蛛机器人是由6个电机驱动的空间双闭环连杆结构。各电机的位置由耦合在一起的Hopf振荡器控制。利用Matlab Simulink和Adams对蜘蛛机器人的滚动运动进行了动力学仿真。该机器人成功实现了平稳连续滚动运动。采用仿生CPG控制方法对闭链机器人进行了验证。

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A CPG-based control method for the rolling locomotion of a desert spider

Desert spiders use rolling locomotion when escaping. According to this characteristic, a Central Pattern Generator (CPG) model based on Hopf nonlinear oscillators was proposed to control a spider robot's rolling locomotion. The spider robot was a spatial double-close-loop linkage structure driven by 6 motors. The position of each motor was controlled by Hopf oscillator coupled together. The dynamic simulations of the spider robot's rolling locomotion were conducted using Matlab Simulink and Adams. The robot achieved smooth and continuous rolling locomotion successfully. The biologically-inspired CPG control approach was validated for the closed-chain robot.

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2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)

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