机器人Issue(6)：688-696,9.DOI:10.13973/j.cnki.robot.2014.0688
基于Hopf振荡器实现的蛇形机器人的步态控制
Gait Control for a Snake Robot Based on Hopf Oscillator Model
摘要
Abstract
A central pattern generator (CPG) based locomotion method for a snake robot by Hopf oscillators is developed according to different gait characteristics of biological snake. Firstly, coupled Hopf oscillators with the feature of nonlinear limit cycle are selected to construct a chain network model that can achieve serpentine locomotion and sidewinding loco-motion. Then, a simulated snake robot is created by a dynamics simulation software and is driven by the outputs of the oscillators in the model which are able to generate control signals for distributed redundancy joints of the snake robot. A successful implementation of the two kinds of gaits in simulation environment is demonstrated and the relation between CPG parameters and the forward velocity of the robot is also discussed. Finally, experimental results on a real snake robot confirm the effectiveness of the proposed method to achieve different gaits of the snake robot.关键词
蛇形机器人/中枢模式发生器/Hopf振荡器/蜿蜒运动/侧向蜿蜒运动Key words
snake robot/central pattern generator/Hopf oscillator/serpentine/sidewinding分类
信息技术与安全科学引用本文复制引用
高琴,王哲龙,赵红宇..基于Hopf振荡器实现的蛇形机器人的步态控制[J].机器人,2014,(6):688-696,9.基金项目
辽宁省高等学校杰出青年学者成长计划资助项目（LJQ2012005）；国家863计划资助项目（2012AA04150502）；国家自然科学基金资助项目（61174027）；国家科技支撑计划资助项目（2012BAK15B05）． （）
