| 引用本文: | 崔馨丹,朱延河,王晓露,唐术锋,赵杰.模块化机器人的双输出CPG网络调相运动控制[J].哈尔滨工业大学学报,2013,45(7):47.DOI:10.11918/j.issn.0367-6234.2013.07.009 |
| CUI Xindan,ZHU Yanhe,WANG Xiaolu,TANG Shufeng,ZHAO Jie
.Two-output CPG phased network locomotion control for modular robot[J].Journal of Harbin Institute of Technology,2013,45(7):47.DOI:10.11918/j.issn.0367-6234.2013.07.009 |
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| 摘要: |
| 为了增强模块化机器人的灵活性,以及对其多模式运动进行更简单有效地控制,结合阵列式和串联式自重构机器人的特点,设计基于万向式关节的双自由度UBot模块,并根据两个关节之间的相互抑制关系,结合生物学的中枢模式发生器(CPG)运动控制原理,设计具有双输出的CPG网络调相运动控制器. 通过调整CPG间的连接权重以及每个CPG中两组输出的关系,调解运动控制信号间的相位差值,有效地控制UBot模块化机器人的整体协调运动．应用这种控制方法控制了模块化机器人的3种运动模式:四足运动、蠕动和多节虫运动,在ADAMS仿真环境下进行了运动仿真实验,并在UBot模块化自重构平台上分别进行了3种构型的实体运动试验．实验结果验证了双输出CPG调相网络对模块化机器人运动控制的有效性和实用性． |
| 关键词: 模块化机器人 自重构 中枢模式发生器(CPG) 运动控制 UBot |
| DOI：10.11918/j.issn.0367-6234.2013.07.009 |
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| 基金项目:国家自然科学基金资助项目(60705027;61273316). |
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| Two-output CPG phased network locomotion control for modular robot |
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CUI Xindan, ZHU Yanhe, WANG Xiaolu, TANG Shufeng, ZHAO Jie
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(State Key Laboratory of Robotics and System, Harbin Institute of Technology, 150001 Harbin, China)
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| Abstract: |
| The modular robot has the characteristic of diversity configuration and multi-mode locomotion. To make the robot more flexible and the control of multi-mode locomotion easier, combined with the feature of lattice and chain type self-reconfigurable robots, the UBot module based on the universal joint has been developed. According to the mutual inhibition relation of two joints in each module, combined with biological central pattern generator (CPG) principle, the CPG controller with two outputs has been designed. The two-output CPG controller can control the UBot robot's locomotion effectively by adjusting the connective weights among CPGs and two outputs' relation in each CPG and getting different phases. The control method has been used to control three motions: quadruped motion, squirm motion and multi-segmented worm motion. The simulation has been successfully done in ADAMS, besides, the experiment of the three motions have been done on the UBot modular robotic platform. The experiment results have proved the Two-output CPG phased network for modular robot locomotion control to be practical and effective. |
| Key words: modular robot self-reconfiguration central pattern generator (CPG) locomotion control UBot
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