机械与电子Issue(7)：56-59,4.
双足跳跃机器人的适应性 CPG 运动控制
Adaptive Motion Control of a Biped Jumping Robot Based on CPG
摘要
Abstract
For solving the adapt control problem of biped hopping robot in unexpected situations,we build a CPG control mechanism which is able to change its control structure according to robot motion status simulating the CPG control mechanism in animals.Imi-tating the self reconfigurable feature of animal control mechanism,a time delayed response link is added to this control mechanism,for judging and adjusting the robot motion under unexpected situations.When the limbs of robot suddenly fails or the motion of robot limb is restricted,this control mechanism can sponta-neously adjust the structure of neural network accord-ing to perception of the robot motion status,and main-tain stable hopping motion.Finally,this control mecha-nism is studied on a simulation platform under two situations:normal hopping and hopping when one robotlimb suddenly fails.关键词
双足机器人/适应性控制/CPG/跳跃运动控制Key words
biped robot/adaptive motion con-trol/CPG/control of jumping motion分类
信息技术与安全科学引用本文复制引用
王婷婷,富生,郭伟,李满天,孙立宁..双足跳跃机器人的适应性 CPG 运动控制[J].机械与电子,2014,(7):56-59,4.基金项目
国家自然科学基金资助项目（61175107，60901074）；机器人技术与系统国家重点实验室自主课题 （）
