摘要
The orderly delay control technique for a new type of arthropod robot is studied in this pa- per. The orderly delay controller is composed of three parts. The first part is a central pattern gener- ator （CPG） with periodical output. The second part is a neural pathway （NP） that generates the time delay characteristic of various gait patterns. The last part is a locomotion nerve center （ LNC ） that decides the frequency of the CPG output and generates orderly phase delay by changing the pa- rameters of NP. And then signals that fit for different gaits can be obtained through the regulation of LNC. Experiments are implemented with a robot following mathematical simulation of the controller. The experimental results show that various gait patterns can be realized successfully with the method proposed in this paper.
The orderly delay control technique for a new type of arthropod robot is studied in this pa- per. The orderly delay controller is composed of three parts. The first part is a central pattern gener- ator （CPG） with periodical output. The second part is a neural pathway （NP） that generates the time delay characteristic of various gait patterns. The last part is a locomotion nerve center （ LNC ） that decides the frequency of the CPG output and generates orderly phase delay by changing the pa- rameters of NP. And then signals that fit for different gaits can be obtained through the regulation of LNC. Experiments are implemented with a robot following mathematical simulation of the controller. The experimental results show that various gait patterns can be realized successfully with the method proposed in this paper.
基金
Supported by the Ministerial Level Advanced Research Foundation(65822576)
