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基于中枢模式发生器的机器人行走控制 被引量：3

Locomotion Control of Quadruped Robot Based on Central Pattern Generators
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摘要 基于中枢模式发生器(central pattern generator,CPG)的动物运动控制机理实现四足机器人AIBO的行走控制.利用Kimura振荡神经元构建CPG分布式控制网络,通过多目标遗传算法优化调整CPG网络中的参数,在AIBO上实现类似动物行走(walk)的行走模式.通过Webots仿真和实体实验,验证所设计的CPG控制网络和控制方法的可行性与有效性. Central pattern generator（CPG） plays an important role in rhythmic motion of animals and is available for biological motion control studies of robots.In this paper,by using Kimura neuron oscillators,a distributed CPG control network is constructed to realize the locomotion control of quadruped robot AIBO.The parameters of the network are adjusted by multi-object genetic algorithm（MOGA） and an animal-like walking gait of AIBO can be realized.Both simulations in Webots and experiments on real AIBO validate the feasibility and efficiency of the constructed CPG control network.
作者 陈启军 王国星 刘成菊
机构地区 同济大学电子与信息工程学院
出处 《同济大学学报（自然科学版）》 EI CAS CSCD 北大核心 2010年第10期1534-1539,共6页 Journal of Tongji University:Natural Science
基金 国家自然科学基金资助项目(60875057) 国家"八六三"高技术研究发展计划资助项目(2009AA04Z213)
关键词 中枢模式发生器 Kimura振荡神经元 行走控制 多目标优化算法 central pattern generator（CPG） kimura neuron oscillator locomotion control multi-object genetic algorithm（MOGA）
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献18

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二级参考文献3

共引文献19

同被引文献23

  • 1吴启迪,刘成菊,张家奇,陈启军.生物诱导的机器入行走控制研究进展[J].中国科学（F辑:信息科学）,2009,39(10):1080-1094. 被引量：7
  • 2卢振利,马书根,李斌,王越超.基于循环抑制CPG模型的蛇形机器人控制器[J].机械工程学报,2006,42(5):137-143. 被引量：10
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同济大学学报（自然科学版）
2010年 第10期

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