|
SNAKE-LIKE
ROBOT CONTROLLER WITH
CYCLIC
INHIBITORY CPG MODEL
LU Zhenli1 MA Shugen2
LI Bin1 WANG Yuechao1
(1.
Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy
of Sciences, Shenyang 110016;
2. COE
Research Institute, Ritsumeikan University, Shiga-Kan 525-8577 Japan)
|
|
Abstract: The
rhythmic locomotion of a creature is a self-excitation behavior of the
CPG (Central pattern generator), which makes it supremely adapted for
environment. Based on this fact, firstly a snake-like robot controller
with cyclic inhibitory CPG model is designed, and then the stability of
single neuron, CPG model and the neuron oscillator network (NON) are
analyzed. By implementing this control architecture to a simulator with
consideration of mechanical dynamics of a real snake-like robot named
“Perambulator-I”, preliminary policies for serpentine locomotion about
parameter setting of the CPG controller to modulate the number of S
shape, the curve of body shape, locomotion velocity and the curve of
locomotion trajectory are presented. Moreover, “Perambulator-I” can
successfully exhibit serpentine locomotion by using output of the
proposed CPG controller. The results provide a realistic approach to
design an artificial CPG controller.
Key
words: Snake-like
robot Serpentine locomotion Cyclic inhibition Central pattern
generator Stability analysis
CLC No: TP24
国家自然科学基金资助项目(60375029). Received 20050511,
received in revised form 20051115
|