| 基于中枢模式发生器的机器人行走控制 |
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| 引用本文： | 陈启军,王国星,刘成菊.基于中枢模式发生器的机器人行走控制[J].同济大学学报(自然科学版),2010,38(10):1534-1539. |
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| 作者姓名： | 陈启军 王国星 刘成菊 |
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| 作者单位： | 同济大学,电子与信息工程学院,上海,201804 |
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| 基金项目： | 国家自然科学基金，国家"八六三"高技术研究发展计划资助项目 |
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| 摘 要： | 基于中枢模式发生器(central pattern generator,CPG)的动物运动控制机理实现四足机器人AIBO的行走控制.利用Kimura振荡神经元构建CPG分布式控制网络,通过多目标遗传算法优化调整CPG网络中的参数,在AIBO上实现类似动物行走(walk)的行走模式.通过Webots仿真和实体实验,验证所设计的CPG控制网络和控制方法的可行性与有效性.
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| 关 键 词： | 中枢模式发生器 Kimura振荡神经元 行走控制 多目标优化算法 |
Locomotion Control of Quadruped Robot Based on Central Pattern Generators |
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| CHEN Qijun,WANG Guoxing and LIU Chengju.Locomotion Control of Quadruped Robot Based on Central Pattern Generators[J].Journal of Tongji University(Natural Science),2010,38(10):1534-1539. |
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| Authors: | CHEN Qijun WANG Guoxing and LIU Chengju |
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| Institution: | College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China;College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China;College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China |
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| Abstract: | Central pattern generator (CPG) plays an important role in rhythmic motion of animals and is available for biological motion control studies of robots.In this paper,by using Kimura neuron oscillators,a distributed CPG control network is constructed to realize the locomotion control of quadruped robot AIBO.The parameters of the network are adjusted by multi-object genetic algorithm (MOGA) and an animal-like walking gait of AIBO can be realized.Both simulations in Webots and experiments on real AIBO validate the feasibility and efficiency of the constructed CPG control network. |
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