Knowledge presentation by the MNSM-based controller for swimming motion of a snake-like robot

被引：0
|
作者：
Lu Z. [1 ,2 ]
Xie Y. [1 ,3 ]
Xu H. [1 ]
Branislav B. [4 ]
Li B. [2 ]
机构：
[1] School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu
[2] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang
[3] School of Information and Electrical Engineering, China University of Mining and Technology, Xuzhou
[4] Faculty of Technical Sciences, University of Novi Sad, Novi Sad
来源：
High Technology Letters | 2018年 / 24卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Knowledge presentation; Mirror neuron system mechanism (MNSM); Snake-like robot; Swimming motion;
D O I：
10.3772/j.issn.1006-6748.2018.01.013
中图分类号：
学科分类号：
摘要：
A MNSM (mirror neuron system mechanism)-based controller is developed to present the swimming rhythm of a snake-like robot in Cartesian space. From engineering viewpoint, the proposed controller is composed of a neuron for rhythm angle and two neurons for motion knowledge in XY plane. The given knowledge is a rhythm curve for swimming motion of a snake-like robot. Experimental results show that the proposed controller can present the knowledge of swimming rhythm, which represents the corresponding control law to drive the snake-like robot to swim with different speeds and turning motion. This work provides a novel method to present the knowledge for swimming motion of snake-like robots. Copyright © by HIGH TECHNOLOGY LETTERS PRESS.
引用
收藏
页码：103 / 112
页数：9
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