高技术通讯2026，Vol.36Issue(6)：632-642,11.DOI:10.3772/j.issn.1002-0470.2026.06.009
仿尺蠖爬壁机器人的曲面步态规划与CPG网络构建
Curved surface gait planning and CPG network construction for an inchworm-inspired wall-climbing robot
摘要
Abstract
To address the motion planning challenges of wall-climbing robots on complex curved surfaces,this study pro-poses a bio-inspired gait planning method based on an adaptive central pattern generator(CPG).Inspired by the locomotion of inchworms in nature,a five-degree-of-freedom bipedal wall-climbing robot is designed.First,the conditions for stable adhesion of the robot's bipedal suction cups are analyzed.A CPG network model for the ro-bot's three joints is constructed by coupling multiple tunable Hopf oscillators using a supervised learning method.The CPG network parameters for curved-surface flipping are obtained by learning the joint angles,amplitudes,and other parameters of the robot's T-joint during planar flipping gaits.Online modifications are then applied to the joint angles and amplitudes mapped by the CPG network for curved-surface flipping to achieve gait planning.Sub-sequently,a simulation model is established using Matlab/Simulink and Adams to verify the robot's ability of adap-ting to flipping gaits on surfaces with varying curvatures.Finally,flipping gait experiments are conducted on real curved surfaces,with experimental results consistent with simulations.The findings demonstrate that after learning planar gaits,the CPG network can transform them into curved-surface gaits,validating the effectiveness of the on-line adaptive gait planning method based on CPG.关键词
爬壁机器人/中枢模式发生器网络/步态分析/运动规划/吸附条件Key words
wall-climbing robots/central pattern generator network/gait analysis/motion planning/adsorp-tion conditions引用本文复制引用
刘海军,王广慧,吴善强,周坤,郑小飞,冯伟博..仿尺蠖爬壁机器人的曲面步态规划与CPG网络构建[J].高技术通讯,2026,36(6):632-642,11.基金项目
浙江省"尖兵""领雁"研发攻关项目(2023C03186)资助. （2023C03186）
