Digital Implementation of CPG controller in AVR system

摘要：

　　This paper focuses on the implementation of AVR based Central Pattern Generator(CPG)controller.CPGs are biological networks that generate rhythmic outputs for the locomotion control of animals.Since previous CPG controllers are too complex to be suitable for microcontrollers,we propose a simple yet powerful linear CPG controller.To implement this controller in AVR system,several implementation techniques are presented which includes discretization,cosine curve approximation and variable overflow handling.Both simulations and experiments are carried out in an AVR-based robotic fish,which validate the effectiveness of our controller and implementation architecture.

关键词： Robotic fish Central Pattern Generator(CPG) Digital Implementation

作者: Liang Li Chen Wang Guangming Xie Hong Shi

作者单位: Intelligent Control Laboratory,College of Engineering,Peking University,Beijing 100871,P.R.China Intelligent Control Laboratory,College of Engineering,Peking University,Beijing 100871,P.R.China;Fac Department of Mathematics and Physics,Beijing Institute of Petrochemical Technology,Beijing,102617,P

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8293-8298

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）