CPG-based Behavior Design and Implementation 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 Behavior Design and Implementation for a Biomimetic Amphibious Robot
	Ding Rui; Yu Junzhi; Yang Qinghai; Tan Min; Zhang Jianwei
	2011
会议名称	IEEE International Conference on Robotics and Automation
会议日期	2011.05
会议地点	Shanghai, China
关键词	Oscillators Robot sensing systems Joints Turning Propulsion
通讯作者	Ding Rui
英文摘要	This paper presents the behavior design and multimodal locomotion control of a biomimetic amphibious robot based on a bio-inspired CPG (central pattern generator). A set of four key parameters are introduced serving as external stimuli to shape the CPG rhythmic activities where necessary speed and orientation modulation as well as 3-D locomotion can be obtained. In terms of the built parameter set, a library of movement primitives based on finite state machine is established to facilitate rapid and smooth gait transitions. To enhance adaptive behaviors, well-integrated sensory feedback by means of two liquid-level detectors enables the gait transition between ground and water autonomously. Simulations and experiments are also conducted to demonstrate the feasibility of a behavior-based control architecture governed by CPGs.
收录类别	ISTP
会议录	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/4925]
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 Behavior Design and Implementation for a Biomimetic Amphibious Robot[C]. 见:IEEE International Conference on Robotics and Automation. Shanghai, China. 2011.05.