CPG Based Locomotion Control of Pitch-Yaw Connecting Modular Self-Reconfigurable Robots
Self-reconfiguration (SR) robots can take any form by connecting the modules in different configurations. The configurations formed by the modules have many degrees of freedom; therefore, designing a control method for whole body locomotion is more difficult than for the conventional robots. This paper utilizes central pattern generators (CPGs). Each neural oscillator of the network of CPGs works as a distributed joint controller of each module. Three kinds of snake-like configurations and their locomotion gaits have been summarized. Pitch-Yaw connecting snake-like configuration has the most flexibility, which is our research emphasis. Four moving gaits of the Pitch-Yaw have been controlled by the network of the CPG oscillators successfully, that is: worming, side winding, rolling and turning. All the locomotions have been simulated in ADAMS, the simulation experiment has verified the control method of CPGs we designed.
CPG self-reconfiguration robot Pitch-Yaw connecting Snake-like configuration Locomotion control
Xindan Cui Yanhe Zhu Xizhe Zang Shufeng Tang Jie Zhao
State Key laboratory of Robotics and Systems Harbin Institute of Technology Harbin,Heilongjiang Province,China
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-6
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）