摘要
针对现有的四足机器人运动控制存在的问题,提出了仿生脊髓运动网络的控制策略。通过Simulink和Webots联合仿真平台,使用图形化编程界面构建脊髓运动网络的拓扑结构,并对其控制性能进行仿真,仿真结果表明该策略有效地实现了四足机器人的运动,为进一步提高四足机器人运动控制性能奠定了基础。
Aiming at the problems existing in the motion control of quadruped robot, the control strategy of bionic spinal locomotor network is proposed. Through Simulink and Webots co-simulation platform, the topology of spinal locomotor network is constructed using graphical programming interface, and its control performance is simulated. The simulation results show that the strategy effectively realizes the motion of quadruped robot, which lays a foundation for further improving the motion control performance of quadruped robot.
出处
《科学技术创新》
2021年第35期54-57,共4页
Scientific and Technological Innovation
基金
江苏省研究生科研创新项目(KYCX20_2940)
江苏海洋大学电子工程学院研究生科研创新项目(DZXS202005)
连云港市“海燕”计划。
