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仿生爬壁蠕虫运动步态控制算法

李大寨 王 巍 王莹莹 齐婧浩

李大寨, 王 巍, 王莹莹, 等 . 仿生爬壁蠕虫运动步态控制算法[J]. 北京航空航天大学学报, 2009, 35(2): 256-260.
引用本文: 李大寨, 王 巍, 王莹莹, 等 . 仿生爬壁蠕虫运动步态控制算法[J]. 北京航空航天大学学报, 2009, 35(2): 256-260.
Li Dazhai, Wang Wei, Wang Yingying, et al. Locomotion gait control algorithm for climbing worm robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(2): 256-260. (in Chinese)
Citation: Li Dazhai, Wang Wei, Wang Yingying, et al. Locomotion gait control algorithm for climbing worm robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(2): 256-260. (in Chinese)

仿生爬壁蠕虫运动步态控制算法

基金项目: 国家863计划资助项目(2006AA04Z250)
详细信息
    作者简介:

    李大寨(1967-),男,湖南岳阳人,高级工程师,lidazhai@buaa.edu.cn.

  • 中图分类号: TP 242

Locomotion gait control algorithm for climbing worm robot

  • 摘要: 设计了一种基于仿生原理的爬壁蠕虫机器人,分析了这种机器人的结构,并利用仿生学原理设计了基于三角波和梯形波特点的两种运动步态.在分析现有神经中枢控制CPG(Central Pattern Generator)算法基础上,应用循环抑制CPG模型和相互抑制CPG模型,构建了爬壁蠕虫机器人的三角波步态CPG控制网络和梯形波步态CPG控制网络,并结合吸盘状态,加入反馈信号,实现了带有反馈的CPG控制算法.利用爬壁蠕虫机器人模型,仿真验证了这种控制算法对蠕动运动步态控制的有效性,通过在爬壁蠕虫机器人原理样机上的步态实验,证明了该算法的可行性.

     

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出版历程
  • 收稿日期:  2008-07-20
  • 网络出版日期:  2009-02-28

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