基于振荡器模型的蛇形机器人的步态仿真

doi:10.16182/j.cnki.joss.2015.06.031

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (6): 1374-1380.doi: 10.16182/j.cnki.joss.2015.06.031

基于振荡器模型的蛇形机器人的步态仿真

高琴¹, 王哲龙¹, 胡卫建², 赵兰迎²

1.大连理工大学控制科学与工程学院,大连 116024;
2.中国地震应急搜救中心,北京 100049

收稿日期:2014-06-17 修回日期:2014-09-10 出版日期:2015-06-08 发布日期:2021-01-15
作者简介:高琴(1985-),女,河南南阳人，博士生，研究方向为机器人运动控制算法; 王哲龙(1973-),男，辽宁大连人，教授，博导，研究方向为机器人技术和无线传感器网络。
基金资助:
国家自然科学基金资助(61174027);国家科技支撑计划课题资助(2013BAK03B01)

Gait Simulation of Snake Robot Based on CPG Method

Gao Qin¹, Wang Zhelong¹, Hu Weijian², Zhao Lanying²

1. School of Control Science and Engineering, Dalian University of Technology, Dalian 116024, China;
2. National Earthquake Response Support Service, Beijing 100049, China

Received:2014-06-17 Revised:2014-09-10 Online:2015-06-08 Published:2021-01-15

摘要/Abstract

摘要： 自然界中的生物蛇具有多种周期性运动方式如埦圾运动、直线运动和侧移运动等，步态的多样性极大的提高了自然蛇对复杂环境的适应性。生物学家通过研究证明脊椎动物的这种节律性运动方式是由中枢神经模式发生器(CPG)控制的。针对蛇形机器人高自由度的机械结构和不同步态的运动特点，利用Hopf振荡器模型的稳态特性建立了蛇形机器人的CPG步态模型.通过ADAMS仿真实现了 1种九连杆八关节机器人样机的琬蜒运动和三维空间内的侧向蜿蜓运动，并讨论了2种步态之间的切换。仿真分析结果证明该CPG模型在实现蛇形机器人2种步态控制上的有效性。

关键词: 蛇形机器人, Hopf振荡器, 蜿蜒运动, 侧向蜿蜒运动

Abstract: Biological snakes in nature have a variety of periodic motion patterns such as serpentine motion, linear motion and lateral motion. Gaits diversity has greatly improved the adaptability of natural snakes to complex environment. Biologists has proved that such rhythmic movements of vertebrate animals are generated by CPG (the central neural pattern generator). Special mechanical structure of a snake robot with high degree offreedom and locomotion characteristics of different gaits was considered to bulid a suitale CPG network model. Hopf oscillators were chosen as neuron models of a central pattern generator owing to their stable features. A snake robot prototype consisting of nine links and eight joints was designed to achieve serpentine locomotion in horionzonal plane and sidewinding locomotion in three-dimensional space using a simulation tool of ADAMS. A switching method between the two locomotion gaits was discussed. Simulation results show that the proposed model is effecitive in locomotion control of snake robots.

Key words: snake robot, Hopf oscillator, serpentine locomotion, sidewinding locomotion

中图分类号:

TP391.9

高琴, 王哲龙, 胡卫建, 赵兰迎. 基于振荡器模型的蛇形机器人的步态仿真[J]. 系统仿真学报, 2015, 27(6): 1374-1380.

Gao Qin, Wang Zhelong, Hu Weijian, Zhao Lanying. Gait Simulation of Snake Robot Based on CPG Method[J]. Journal of System Simulation, 2015, 27(6): 1374-1380.

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基于振荡器模型的蛇形机器人的步态仿真

Gait Simulation of Snake Robot Based on CPG Method

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