计算机应用研究2024，Vol.41Issue(10)：3053-3058,6.DOI:10.19734/j.issn.1001-3695.2024.01.0050
基于Hopf振荡器的Spiking-CPG六足机器人步态运动控制
Gait locomotion of hexapod robot based on Spiking-CPG neural system using Hopf oscillator
摘要
Abstract
CPG makes a great contribution to the control of gait motions in hexapod robots.To manage the gait movements of hexapod robots more efficiently and with lower energy consumption,this work introduced a Spiking-CPG(SCPG)neural network as the bionic control system for these robots.The system integrated Hopf oscillators with biologically inspired LIF neurons,which communicated through sparse spiking signals,in a ring topology.It was composed of six groups,each containing 2 000 LIF neurons,interconnected to form the network.This SCPG control system could produce common hexapod robot gaits such as the wave,tetrapod,and tripod gaits.It facilitated rapid,smooth,and stable transitions between motion gaits by adjusting phase difference parameters,and could dynamically adjust the required frequency and amplitude,exhibiting excellent robustness by quickly recovering from external disturbances.It controlled a simple 3D hexapod robot model on the Webots platform.It deve-loped the robot by transforming the SCPG signal output through joint mapping functions,validating the motion stability of the designed hexapod robot and the feasibility and effectiveness of the SCPG control scheme.Finally,it ported the SCPG neural network controller proposed to Intel's Loihi chip,showing that it has high execution speed and lower energy consumption,indicating a promising prospect for application in the motion control of hexapod robots.关键词
六足机器人/运动步态控制/Spiking-CPG/Hopf振荡器/LIF/NEFKey words
hexapod robot/motion gait control/Spiking-CPG/Hopf oscillator/LIF/NEF分类
信息技术与安全科学引用本文复制引用
罗疏桐,宋自根..基于Hopf振荡器的Spiking-CPG六足机器人步态运动控制[J].计算机应用研究,2024,41(10):3053-3058,6.基金项目
国家自然科学基金资助项目(12172212) （12172212）
中央高校基本科研业务费专项资金资助项目(22120220588) （22120220588）
