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基于中央模式发生器的仿壁虎机器人运动控制。

Motion Control of a Gecko-like Robot Based on a Central Pattern Generator.

机构信息

School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China.

School of Mechatronic, Northwestern Polytechnical University, Xi'an 710072, China.

出版信息

Sensors (Basel). 2021 Sep 9;21(18):6045. doi: 10.3390/s21186045.

DOI:10.3390/s21186045
PMID:34577251
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8473384/
Abstract

To solve the problem of the motion control of gecko-like robots in complex environments, a central pattern generator (CPG) network model of motion control was designed. The CPG oscillation model was first constructed using a sinusoidal function, resulting in stable rhythm control signals for each joint of the gecko-like robot. Subsequently, the gecko-like robot successfully walked, crossed obstacles and climbed steps in the vertical plane, based on stable rhythm control signals. Both simulations and experiments validating the feasibility of the proposed CPG motion control model are presented.

摘要

为了解决仿壁虎机器人在复杂环境中的运动控制问题，设计了一种运动控制的中心模式发生器（CPG）网络模型。首先利用正弦函数构建了CPG 振荡模型，为仿壁虎机器人的各个关节产生稳定的节律控制信号。随后，基于稳定的节律控制信号，仿壁虎机器人成功地在垂直平面上行走、跨越障碍物和攀爬台阶。提出的 CPG 运动控制模型的可行性通过仿真和实验进行了验证。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/84079774de41/sensors-21-06045-g019.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/09f64bf22c30/sensors-21-06045-g018.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/84079774de41/sensors-21-06045-g019.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/824ebf1d5251/sensors-21-06045-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/b580610e571e/sensors-21-06045-g002.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/3bf8f2fc324d/sensors-21-06045-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/70456286ae14/sensors-21-06045-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/68c63ed3ebc6/sensors-21-06045-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/5688899bb941/sensors-21-06045-g010a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/4a48cd312506/sensors-21-06045-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/00404d78249a/sensors-21-06045-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/3b38b49bc3a0/sensors-21-06045-g013a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/d753dd53d6af/sensors-21-06045-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/58e228917c19/sensors-21-06045-g015.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/d855aaa2af4a/sensors-21-06045-g016.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/f21315e4b8ee/sensors-21-06045-g017.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/09f64bf22c30/sensors-21-06045-g018.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/2ccf/8473384/84079774de41/sensors-21-06045-g019.jpg

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Biol Cybern. 2020-10

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