高技术通讯2025，Vol.35Issue(6)：613-623,11.DOI:10.3772/j.issn.1002-0470.2025.06.005
足翼混合驱动两栖机器人浮游步态生成方法研究
Gait generation method for fin-leg hybrid-driven amphibious robots
摘要
Abstract
To improve the stability and efficiency of the underwater gait in amphibious robots with hybrid foot-wing pro-pulsion,a novel gait generation method based on bionics is proposed.This method leverages a central pattern gen-erator(CPG)framework.Employing an enhanced nonlinear oscillator as the rhythm signal generator,a CPG neural network model for the amphibious biomimetic robot is developed through weak coupling between adjacent units.Moreover,reinforcement learning is employed to optimize critical parameters such as frequency,amplitude,and phase differences within the oscillator,achieving optimal CPG network model parameters and facilitating a more ef-ficient swimming gait.The feasibility of the model and the efficacy of the gait optimization approach through rein-forcement learning(RL)are corroborated by simulation results.关键词
足翼混合驱动/浮游步态/中枢模式发生器/非线性振荡器/强化学习Key words
foot and wing hybrid drive/floating gait/central pattern generator(CPG)/nonlinear oscillator/reinforcement learning(RL)引用本文复制引用
曹贺强,王海龙..足翼混合驱动两栖机器人浮游步态生成方法研究[J].高技术通讯,2025,35(6):613-623,11.基金项目
国家自然科学基金(42206196)资助项目. （42206196）
