基于CPG理论的六足机器人多足协调运动控制方法

A control method of multiped coordinating motion for hexapod robot based on CPG theory

模仿生物CPG(Central Pattern Generator)控制机器人的运动是近年来提出的新方法。文章利用基于振动理论的CPG神经元模型,建立了CPG神经振荡网络,并由两个先导神经元控制两组这样的网络振荡,从而控制机器人的节律性行走中的多足协调运动。根据六足机器人的关节运动顺序,选取合适的连接矩阵,得出了合适的控制曲线,得到解决了六足机器人的多足协调运动和行走问题的方法。

Imitating CPG （Central Pattern Generator） to control the motion of robots is a new method developed recently. This paper establishes the CPG neuron oscillatory networks utilizing CPG neuron model based on vibration theory which are controlled by two forerunner neurons, thereby controls the multiped coordinating motion in rhythm walking of robot. According to the sequence of the joint motion of hexapod robot, the ＇appropriate control curves is produced by choosing appropriate connecting matrix, consequently, the method for solving the problem of multiped coordinating motion and walking is obtained.