基于振荡器模型的蛇形机器人的步态仿真

Gait Simulation of Snake Robot Based on CPG Method

自然界中的生物蛇具有多种周期性运动方式如蜿蜒运动、直线运动和侧移运动等,步态的多样性极大的提高了自然蛇对复杂环境的适应性。生物学家通过研究证明脊椎动物的这种节律性运动方式是由中枢神经模式发生器(CPG)控制的。针对蛇形机器人高自由度的机械结构和不同步态的运动特点,利用Hopf振荡器模型的稳态特性建立了蛇形机器人的CPG步态模型.通过ADAMS仿真实现了1种九连杆八关节机器人样机的蜿蜒运动和三维空间内的侧向蜿蜒运动,并讨论了2种步态之间的切换。仿真分析结果证明该CPG模型在实现蛇形机器人2种步态控制上的有效性。

Biological snakes in nature have a variety of periodic motion patterns such as serpentine motion,linear motion and lateral motion.Gaits diversity has greatly improved the adaptability of natural snakes to complex environment.Biologists has proved that such rhythmic movements of vertebrate animals are generated by CPG(the central neural pattern generator).Special mechanical structure of a snake robot with high degree of freedom and locomotion characteristics of different gaits was considered to bulid a suitale CPG network model.Hopf oscillators were chosen as neuron models of a central pattern generator owing to their stable features.A snake robot prototype consisting of nine links and eight joints was designed to achieve serpentine locomotion in horionzonal plane and sidewinding locomotion in three-dimensional space using a simulation tool of ADAMS.A switching method between the two locomotion gaits was discussed.Simulation results show that the proposed model is effecitive in locomotion control of snake robots.