Serpentine Locomotion of a Snake-like Robot Controlled by Cyclic Inhibitory CPG Model
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摘要: 根据生物蛇和蛇形机器人的结构及运动特点，应用循环抑制CPG建模理论构建了蛇形机器人神经网络模型；利用蛇形机器人模型，仿真验证了CPG模型对蜿蜒运动控制的有效性；提出并仿真验证了实现有目的转弯控制的CPG参数调节方法。最后，给出了今后的研究方向。Abstract: Based on the structure of both biological snakes and snake-like robots and their rhythm movement, the cyclic inhibitory CPG is adopted as a control method to construct a snake-like robot neuron network model. The validity of the serpentine movement controlled by the CPG model is verified through a snake-like robot model. A modulating method of the CPG parameters is brought forward and simulation to realize the required turning motion is carried out. Finally, the aspects of future research are discussed.
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