摘要
随着仿生机器人技术的迅猛发展,基于中枢模式发生器的运动控制方法逐渐成为该领域的研究热点。中枢模式发生器是对生物运动控制神经网络的仿生,对于机器人的节律运动控制具有很大的优越性。文章首先介绍了中枢模式发生器的概念及特点,然后详细介绍了典型的中枢模式发生器模型及其对仿生机器人运动的控制。
出处
《中国高新技术企业》
2013年第2期62-64,共3页
China Hi-tech Enterprises
参考文献10
-
1A. J. Ijspeert. Central pattern generators for locomotion control in animals and robots: a review. Neural Network, 2008, 21 ( 4 ) : 642-653.
-
2T. G. Brown. The intrinsic factors in the act of progression in the mammal. Proceedings of the Royal Society of Lon- don:Series B, 1911, 84 ( 572 ) :308-319.
-
3D. M. Wilson. The central nervous control of flight in a locust. Journal of Experimental Biology, 1961, 38 ( 22 ) : 471-479.
-
4P. Wallen, S. GriUner. Central pattern generators and their interaction with sensory feedback. Proceedings of the 1997 American Control Conferenc, Albuquerque, NM, USA, 1997: 2851-2855.
-
5H. Forssberg, S. Grillner, and S. Rossignol. Phasic gain control of reflexes from the dorsum of the paw during spinal locomotion. Brain Research, 1977, 132 ( 1 ) :121-139.
-
6A. H. Cohen, P. J. Holmes, IL. H. Rand. The nature of the coupling between segmental oscillators of the lamprey spinal generator for locomotion: a mathematical model. Journal of Mathematical Biology, 1982, 13: 345-369.
-
7j. Ijspeert, A. Crespi, D. Ryczko, and J. M. Cabelguen. From sx~nming to walking with a salamander robot driven by a spinal cord model. Science, 2007,315 (58) :1416- 1420.
-
8K. Matsuoka. Sechanism of frequency and pattern control in the neural rhythm generators. Biol. Cybern, 1987, 52 ( 5-6 ) :345-353.
-
9H. Kimura, S. Akiyama, and K. Sakurama. Realization of dynamic walking and running of the quadruped using neu- ral oscillator. Auton. Robot, 1999, 7 ( 3 ) : 247-258.
-
10Ming Wang, Junzhi Yu, and Min Tan. Modeling neural control of robotic fish with pectoral fins using a CPG- based network. Proceeding of the 48th IEEE Conference on Decision and Control, 2009:6502-9507.
同被引文献12
-
1穆海华,周云飞,严思杰,韩爱国.超精密点对点运动3阶轨迹规划算法与实现[J].华中科技大学学报（自然科学版）,2007,35(12):58-61. 被引量：8
-
2BIAGIOTTI L, MELCHIORRI C. Trajectory plan- ning for automatic machines and robots [ M]. Berlin Heidelberg: Springer Science & Business Media, 2008.
-
3RYMANSAIB Z, IRAVANI P, SAHINKAYA M N. Exponential trajectory generation for point to point motions [C]//IEEE/ASME International Con- ferenee on Advanced Intelligent Mecbatronies. Wollon- gong, Australia: IEEE, 2013: 906-911.
-
4PERUMAAL S S, JAWAHAR N. Automated traj- ectory planner of industrial robot for pick-and-place task[J]. International Journal of Advanced Robotic Systems, 2013, 10(10) :1-17.
-
5DING R, YU J, YANG Q, etal. Dynamic modelling of a CPG-controlled amphibious biomimetic swimming robot[J]. International Journal of Advanced Robotic Systems, 2013, 10(3):493-501.
-
6CRESOPI A, IJSPEERT A J. Online optimization oI swimming and crawling in an amphibious snake robot [J]. IEEE Transactions on Robotics, 2008, 24 (1) : 75-87.
-
7YUJ, TAN M, CHEN J, etal. A survey onCPG- inspired control models and system implementation [J]. IEEE Transactions on Neural Networks and Learning Systems, 2014, 25(3): 441-456.
-
8CRESPI A, KARAKASILIOTIS K, GUIGNARD A, et al. Salamandra robotica II: An amphibious ro- bot to study salamander-like swimming and walking gaits[J]. IEEE Transactions on Robotics, 2013, 29 (2) : 308-320.
-
9STAFFA M, PERFETTO D, ROSSI S. Engineering central pattern generated behaviors for the deploy- ment of robotic systems[J]. Neurocomputing, 2015, 170(2) : 98-112.
-
10CRAIG J J. Introduction to robotics: mechanics and control[M]. Upper Saddle River: Pearson Prentice Hall, 2005.
-
1张建明,佘江峰,伏劲松,宋顺林.智能计算机动画综述[J].江苏理工大学学报（自然科学版）,1996,17(5):72-78. 被引量：1
-
2喻佳,李静,王校锋,韩艳丽.基于RBF神经网络的机器人鲁棒自适应控制器设计[J].海军航空工程学院学报,2009,24(3):267-271. 被引量：1
