智能系统学报2016，Vol.11Issue(5)：627-634,8.DOI:10.11992/tis.201601036
基于Hopf振荡器的六足机器人步态CP G模型设计
CPG model design based on hopf oscillator for hexapod robots gait
摘要
Abstract
The key to bionic motion is a central pattern generator ( CPG) , which realizes the crawl gait of a hexa⁃pod. Firstly, the coordinate system of the robot was set up and the associated forward kinematics were solved based on D⁃H parameters. Hopf oscillators were then adopted into the design of coupling models involving multiple legs. A CPG ring topology structure was established using six CPG units, with each CPG unit consisting of two coupled Hopf oscillators, which output the hip and ankle joint signals, respectively. In order to control each joint ( of a hex⁃apod robot) , a knee⁃ankle mapping function was used. The function mapped the output of the ankle to joint angles for both the knees and ankles. The number of oscillators in the CPG network was reduced using this method. Mean⁃while , the coupling coefficient was changed to guarantee the phase interlock of adjacent oscillators and give a stable and smooth signal. Finally, a physical prototype was constructed for testing the robotic gait. The simulations and test results show that this CPG network has a stable phase difference, which ensures that hexapod robot can walk stably in a triangular gait and a crawling speed of approximately 6.45 cm/sec can be achieved.关键词
中枢模式发生器/Hopf振荡器/六足机器人/运动学分析Key words
central pattern generator/Hopf oscillator/hexapod robots/kinematic analysis分类
信息技术与安全科学引用本文复制引用
任杰,徐海东,干苏,王斌锐..基于Hopf振荡器的六足机器人步态CP G模型设计[J].智能系统学报,2016,11(5):627-634,8.基金项目
国家自然科学基金项目（51575503）；浙江省自然科学基金项目（ LY14F030021）． （）
