Design and Implementation of a Novel CPG-based Locomotion Controller for Robotic Dolphin

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

	Design and Implementation of a Novel CPG-based Locomotion Controller for Robotic Dolphin
	Wang Ming; Yu Junzhi; Tan Min; Zhang Jianwei
	2010
会议名称	8th World Congress on Intelligent Control and Automation
会议日期	2010.07
会议地点	Jinan, China
关键词	multimodal swimming Central pattern generation (CPG) locomotion control robotic dolphin
页码	1611-1616
通讯作者	Wang Ming
英文摘要	This paper presents a novel locomotion controller based on the Central Pattern Generator (CPG) model with nearest coupling for a multilink robotic dolphin. Each CPG in the model is modeled with two input saturation functions, a nonlinear oscillating neuron, and an output amplification function. Its oscillating frequency and amplitude are independently modulated. The CPG model can be amenable to rapid computation for the real-time control and to generate sufficient rhythmic patterns for dolphin-like swimming. The CPG model can be easily integrated into a microcontroller without extra hardware burden via an iterative algorithm. Design and implementation issues of the CPG-based locomotion controller are brought forth and further applied to achieve multimodal swimming. Experimental results confirm the effectiveness of the CPG-based locomotion controller in dolphin-like propulsion and maneuvering.
收录类别	ISTP
会议录	2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/4919]
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	Wang Ming,Yu Junzhi,Tan Min,et al. Design and Implementation of a Novel CPG-based Locomotion Controller for Robotic Dolphin[C]. 见:8th World Congress on Intelligent Control and Automation. Jinan, China. 2010.07.