北京航空航天大学学报 ›› 2009, Vol. 35 ›› Issue (2): 256-260.

• 论文 • 上一篇    下一篇

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   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100191
  • 收稿日期:2008-07-20 出版日期:2009-02-28 发布日期:2010-09-16
  • 作者简介:李大寨(1967-),男,湖南岳阳人,高级工程师,lidazhai@buaa.edu.cn.
  • 基金资助:

    国家863计划资助项目(2006AA04Z250)

Locomotion gait control algorithm for climbing worm robot

Li Dazhai, Wang Wei, Wang Yingying, Qi Jinghao   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2008-07-20 Online:2009-02-28 Published:2010-09-16

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.

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.

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