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�������պ����ѧѧ�� 2009, Vol. 35 Issue (2) :256-260    DOI:
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���կ, �� Ρ, ��ӨӨ, ��溺�*
�������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100191
Locomotion gait control algorithm for climbing worm robot
Li Dazhai, Wang Wei, Wang Yingying, Qi Jinghao*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� A wall-climbing worm-like robot based on the bionics principle was designed and the structure feature of the climbing worm robot was analyzed. According to the structure and locomotion feature of the climbing worm robot and the bionics principle, the trapezoidal wave gait and triangular wave gait were proposed. Then the cyclic inhibitory central pattern generator (CPG) model and mutual inhibitory CPG model were adopted to control the climbing worm robot and a locomotion gait simulation based on CPG model was given. Furthermore, by combining the CPG output with the feedback signal from the sucker, the climbing worm robot realized the trapezoidal wave gait and triangular wave gait. Moreover, it was presented that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.
Keywords�� wall-climbing worm-like robot   central pattern generator (CPG)   worm-like gait     
Received 2008-07-20;
Fund:

����863�ƻ�������Ŀ(2006AA04Z250)

About author: ���կ(1967-),��,����������,�߼�����ʦ,lidazhai@buaa.edu.cn.
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���կ, �� Ρ, ��ӨӨ, ��溺�.������������˶���̬�����㷨[J]  �������պ����ѧѧ��, 2009,V35(2): 256-260
Li Dazhai, Wang Wei, Wang Yingying, Qi Jinghao.Locomotion gait control algorithm for climbing worm robot[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2009,V35(2): 256-260
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2009/V35/I2/256
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