中南大学学报（自然科学版）2016，Vol.47Issue(12)：4069-4079,11.DOI:10.11817/j.issn.1672-7207.2016.12.016
基于CPG的仿蟹机器人复杂地形步态生成方法
Gait generation method of crablike robot walking on complex terrain based on CPG
摘要
Abstract
In order to improve the environmental adaptability of crablike robot in complex terrain, an adaptive gait generation method for complex terrain was proposed based on biological neural reflex mechanism. Firstly, a CPG network model of the crablike robot was built by mutual inhibition neural oscillator. Secondly, the rhythm signals generated by CPG model were mapped to walking leg trajectory by neural network. Then, the reflection mechanism triggered by force sensor was added to CPG model, to realize the adaptive gait generation for complex terrain. Finally, the motion control experiments of crablike robot in complex terrain were carried out to verify the effectiveness of adaptive gait generation method for complex terrain.关键词
仿蟹机器人/中枢模式发生器(CPG)/步态生成/复杂地形Key words
crablike robot/central pattern generator (CPG)/gait generation/complex terrain分类
信息技术与安全科学引用本文复制引用
王刚,韩金华,韩世凯,陈曦,叶秀芬..基于CPG的仿蟹机器人复杂地形步态生成方法[J].中南大学学报（自然科学版）,2016,47(12):4069-4079,11.基金项目
国家自然科学基金青年基金资助项目(51409058)；黑龙江省自然科学基金资助项目(E2016017)(Project(51409058) supported by the National Natural Science Foundation of China （51409058）
Project(E2016017) supported by the Natural Science Foundation of Heilongjiang Province of China) （E2016017）
