CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot
	Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min; Zhang Jianwei
	2010
会议名称	IEEE International Conference on Robotics and Biomimetics
会议日期	2009.12
会议地点	Guilin, China
关键词	Biomimetics Robot kinematics Propulsion, Mobile robots Marine animals, Motion control Hydrodynamics Legged locomotion Lagrangian functions Tail
页码	1657-1662
通讯作者	Ding Rui
英文摘要	This paper deals with the motion control and dynamics modeling of an amphibious biomimetic robot capable of multi-mode motion. A robust gait control for steady swimming using a central pattern generator (CPG) is proposed and has been successfully applied to the robot, with coordinated movements of a pair of pectoral fins and multiple modular fish-like propelling units. Combined with the hydrodynamic forces acting on the robot, a dynamics modeling based on the Lagrangian function has been established. Then some simulations are conducted with the CPG control imported into the model. By varying the input drive of the CPG model, different activities of swimming mode can be induced with the velocity, direction and type of gaits modulated accordingly. Physical tests verify the feasibility of the dynamics model coupling of the CPG control for efficient propulsion.
收录类别	ISTP
会议录	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/4911]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
推荐引用方式 GB/T 7714	Ding Rui,Yu Junzhi,Yang Qinghai,et al. CPG-based Dynamics Modeling and Simulation for a Biomimetic Amphibious Robot[C]. 见:IEEE International Conference on Robotics and Biomimetics. Guilin, China. 2009.12.