CPG-based Behavior Design and Implementation for a Biomimetic Amphibious Robot
This paper presents the behavior design and multimodal locomotion control of a biomimetic amphibious robot based on a bio-inspired CPG (central pattern generator). A set of four key parameters are introduced serving as external stimuli to shape the CPG rhythmic activities where necessary speed and orientation modulation as well as 3-D locomotion can be obtained. In terms of the built parameter set, a library of movement primitives based on finite state machine is established to facilitate rapid and smooth gait transitions. To enhance adaptive behaviors, well-integrated sensory feedback by means of two liquid-level detectors enables the gait transition between ground and water autonomously. Simulations and experiments are also conducted to demonstrate the feasibility of a behaviorbased control architecture governed by CPGs.
Rui Ding Junzhi Yu Qinghai Yang Min Tan Jianwei Zhang
Key Laboratory of Complex Systems and Intelligence Science,Institute of Automation,Chinese Academy o Department of Informatics,University of Hamburg,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
209-214
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）