摘要
动物运动指令的中枢模式发生器(central pattern generator,CPG)在动物的节律运动中发挥着重要的作用,对机器人的仿生控制方法研究具有借鉴意义.首先介绍了CPG的神经环路和控制机制,然后分析了组成CPG的非线性振荡器的典型数学模型,接着介绍了利用CPG进行机器人运动控制在国内外的发展现状,最后展望了其应用前景.
Central pattern generator （CPG） of animal＇s locomotion instruction plays an important role in the rhythmic motion of animal, and it can be used as a reference for the research of the bionic control method of robot. Firstly, the nervous circuit and control mechanism of CPG are introduced in this paper, and then the classic mathematical model of the nonlinear oscillator which constitute CPG＂ is analyzed, the development status at home and abroad of the motion control of robot based on CPG is introduced. At last. the annlication nrosnect is nrovided,
出处
《机器人》
EI
CSCD
北大核心
2008年第3期279-288,共10页
Robot
基金
国家自然科学基金重点资助项目(60535020)
国家863计划资助项目(2007AA04Z201)
