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 p...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.展开更多
Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern ...Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern Generator （CPG） based locomotion control and energy consumption of a miniature self-propelled robotic fish. To this end, a real-time energy measurement system compatible with the CPG-based locomotion control is firstly built on an embedded system. Then, tests are conducted on the untethered actual robot. The results indicate that different CPG feature parameters involving amplitude, frequency, and phase lag play distinct roles in energy consumption under different swimming gaits. Specifically, energy consumption is positively correlated with the changes in the amplitude and frequency of CPGs, whereas the phase lag of CPGs has little influence on the energy consumption. It may offer important inspiration for improving energy efficiency and locomotion performance of versatile swimming gaits.展开更多
A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion contr...A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion control task is divided into two simple parts： motion sequence control and output force control. Inspired by a two-level CPG model, a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint, while various feedback information are introduced into the control mechanism. Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks. The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information, and adapt to unpredictable environment by adjusting outputs of neurons. The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform, and stable adaptive motions are obtained.展开更多
A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environmen...A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals＇ neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller（RMC） comprising a central pattern generator（CPG） for hip joints and a rhythmic coupler（RC） for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances.展开更多
This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The...This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.展开更多
基金Supported by the Ministerial Level Advanced Research Foundation(65822576)
文摘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Acknowledgment This work was supported by the National Natural Science Foundation of China （Nos. 61725305, 61573226, 61763042, 61663040） and the Beijing Natural Science Foundation （Nos. 4161002, 4164103）.
文摘Bionic robotic fish has a significant impact on design and control of innovative underwater robots capable of both rapid swimming and high maneuverability. This paper explores the relationship between Central Pattern Generator （CPG） based locomotion control and energy consumption of a miniature self-propelled robotic fish. To this end, a real-time energy measurement system compatible with the CPG-based locomotion control is firstly built on an embedded system. Then, tests are conducted on the untethered actual robot. The results indicate that different CPG feature parameters involving amplitude, frequency, and phase lag play distinct roles in energy consumption under different swimming gaits. Specifically, energy consumption is positively correlated with the changes in the amplitude and frequency of CPGs, whereas the phase lag of CPGs has little influence on the energy consumption. It may offer important inspiration for improving energy efficiency and locomotion performance of versatile swimming gaits.
基金This research was financially supported by the National High Technology Research and Development Program 863 of China （Grant No. 2008AA04Z211）, the National Natural Science Foundation of China （Grant No.60901074, Grant No.61175107） and State Key Laboratory of Robotics and System （Grant No. SKLRS 200901A02）.
文摘A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion control task is divided into two simple parts： motion sequence control and output force control. Inspired by a two-level CPG model, a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint, while various feedback information are introduced into the control mechanism. Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks. The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information, and adapt to unpredictable environment by adjusting outputs of neurons. The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform, and stable adaptive motions are obtained.
基金supported by National Natural Science Foundation of China (Grant No. 50905012)the Fundamental Research Funds for the Central Universities of China (Grant No. 2012JBM088)
文摘A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals＇ neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller（RMC） comprising a central pattern generator（CPG） for hip joints and a rhythmic coupler（RC） for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances.
基金the National Natural Science Foundation of China (Grant Nos. 60505015, 60775053 and 60635010)"863" Program (Grant No. 2007AA04Z202)
文摘This paper is concerned with the design, optimization, and motion control of a radiocontrolled, multi-link, free-swimming biomimetic robotic fish based on an optimized kinematic and dynamic model of fish swimming. The performance of the robotic fish is determined by both the fish＇s morphological characteristics and kinematic parameters. By applying ichthyologic theories of propulsion, a design framework that takes into consideration both mechatronic constraints in physical realization and feasibility of control methods is presented, under which a multiple linked robotic fish that integrates both the carangiform and anguilliform swimming modes can be easily developed. Taking account of both theoretic hydrodynamic issues and practical problems in engineering realization, the optimal link-lengthratios are numerically calculated by an improved constrained cyclic variable method, which are successfully applied to a series of real robotic fishes. The rhythmic movements of swimming are driven by a central pattern generator （CPG） based on nonlinear oscillations, and up-and-down motion by regulating the rotating angle of pectoral fins. The experimental results verify that the presented scheme and method are effective in design and implementation.
