Chaotic CPG Based Locomotion Control for Modular Self-reconfigurable Robot

被引：14

作者：

Fan, Jizhuang ^{[1
]}

Zhang, Yu ^{[1
]}

Jin, Hongzhe ^{[1
]}

Wang, Xiaolu ^{[1
]}

Bie, Dongyang ^{[1
]}

Zhao, Jie ^{[1
]}

Zhu, Yanhe ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China

来源：

JOURNAL OF BIONIC ENGINEERING | 2016年 / 13卷 / 01期

基金：

中国国家自然科学基金;

关键词：

chaotic CPG self-reconfigurable robot; environment adaptability; locomotion control model; CATERPILLAR-LIKE LOCOMOTION; CENTRAL PATTERN GENERATORS; ASYMMETRIC OSCILLATION; DESIGN; MECHANISM; ANIMALS; SYSTEM;

D O I：

10.1016/S1672-6529(14)60157-8

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The most important feature of Modular Self-reconfigurable Robot (MSRR) is the adaption to complex environments and changeable tasks. A critical difficulty is that the operator should regulate a large number of control parameters of modules. In this paper, a novel locomotion control model based on chaotic Central Pattern Generator (CPG) is proposed. The chaotic CPG could produce various rhythm signals or chaotic signal only by changing one parameter. Utilizing this characteristic, a unified control model capable of switching variable locomotion patterns or generating chaotic motion for modular self-reconfigurable robot is presented. This model makes MSRR exhibit environmental adaptability. The efficiency of the control model is verified through simulation and experiment of UBot MSRR platform.

引用

页码：30 / 38

页数：9

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