机器人2018，Vol.40Issue(2)：146-157,12.DOI:10.13973/j.cnki.robot.170294
基于CPG的沙漠蜘蛛机器人多模式运动控制方法
A CPG-Based Control Method for the Multi-Mode Locomotion of a Desert Spider Robot
摘要
Abstract
Inspired by the desert spider which can perform various movements, a spider robot with double-six-bar-closed-chain 5R mechanism is designed, in which 16 active joints are controlled by DC (direct current) servo motors. A CPG (central pattern generator) motion control model based on Hopf oscillator is proposed to realize handspring, crawl, cartwheel gaits and gait switching of the spider robot. Matlab and ADAMS are used to perform dynamics simulation on multi-mode locomotion of the spider robot. The results show that the robot can execute handspring, crawl and cartwheel motion continuously and smoothly, and the bionic CPG control method applied to multi-mode locomotion of the closed-chain robot is feasible.关键词
仿蜘蛛机器人/多模式运动/中枢模式发生器/Hopf振荡器/闭链机器人Key words
spider robot/multi-mode locomotion/central pattern generator/Hopf oscillator/closed-chain robot分类
信息技术与安全科学引用本文复制引用
史瑞东,张秀丽,姚燕安..基于CPG的沙漠蜘蛛机器人多模式运动控制方法[J].机器人,2018,40(2):146-157,12.基金项目
中央高校基本科研业务费专项(M15JB00250). （M15JB00250）
