基于循环抑制CPG模型控制的蛇形机器人三维运动

具有三维运动能力和独特的节律运动方式,使生物蛇能在复杂的地形环境中生存.大多数动物节律运动是由中央模式发生器(Centralpatterngenerator,CPG)控制的.以此为理论依据,首次以循环抑制建模机理构建蛇形机器人组合关节运动控制的CPG模型.证明该模型是节律输出型CPG中微分方程维数最少的.采用单向激励方式连接该类CPG构建蛇形机器人三维运动神经网络控制体系,给出该CPG网络产生振荡输出的必要条件.应用蛇形机器人动力学模型仿真得到控制三维运动的CPG神经网络参数,利用该CPG网络的输出使“勘查者”成功实现三维运动.该结果为建立未探明的生物蛇神经网络模型提供了一种全新的方法.

With 3D movement s ability and rhythmic locomotion mode, a nature snake makes itself survive in rugged terrains. The rhythmic activities of most creatures are generated by the CPG (Central Pattern Generator). Based on this fact, the sustained-type neuron has been adopted to construct a cyclic inhibitory CPG model for a snake-like robot whose joints are perpendicularly connected in series. The cyclic inhibitory CPG was proven to be able to generate rhythmic output with the least number of differential equations. The neuron network organized by the CPGs connected in line with unilateral excitation has been introduced to control the 3D locomotion of the snake-like robot, and then the necessary condition is also presented for the CPG neuron network to sustain a rhythmic output. By implementing this control architecture to a simulator of a snake-like robot, preliminary parameters of the CPG neuron network for its 3D locomotion are obtained. Moreover, it is known that“Perambulator”can successfully exhibit 3D locomotion by using the output of the proposed CPG network. The obtained results have also provided a brand-new approach to understand the unknown neuron network of nature snake.

国家自然科学基金(60375029);;国家“863”计划(2001AA422360);;日本学术振兴会科学研究补助金“JSPS”(15360129)资助~~