Research on a Central Pattern Generator Bionic Coupling Control System of Robot
Animal’s walking is a complex rhythmic motion that has good celerity, adaptability and stability. Walking is controlled and harmonized by the animal’s nerve-muscle control system. The joints are coupling during walking and are regulated by the nerve center. Based on this mechanism, a concept of bionic coupling control system is presented. This system which simulates the integration effect of animal’s nerve consists of a central pattern generator (CPG) planner built based on the three local neurons network model of CPG, a forward path of motorneuron and a feedback path. Finally, a simulative experiment is done on a platform of robot leg, and the coupling control of robot leg is realized by a single CPG.
CPG Coupling control legged robot
Tingting Wang Wei Guo Fusheng Zha Mantian Li
State Key laboratory of Robotics and System 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）