基于循环抑制CPG模型的蛇形机器人控制器

依据生物利用中央模式发生器(Central pattern generator,CPG)的自激行为产生有节律的协调运动适应多种环境,基于循环抑制CPG建模理论设计了蛇形机器人CPG控制器模型,分析了单个神经元、循环抑制CPG以及该控制器模型的稳定性,并把该控制器应用到一个结合蛇形机器人“勘查者-Ⅰ”动力学特性的仿真模型,得到了实现蜿蜒运动的CPG控制器参数,进而研究了调节S波个数、身体构形曲率、蜿蜒运动速度以及运动轨迹曲率的CPG控制器参数设定策略。此外,“勘查者-Ⅰ”应用该CPG控制器的输出成功实现了蜿蜒运动。该研究结果为设计人工CPG控制器提供了一个可行的方法。

The rhythmic locomotion of a creature is a self-excitation behavior of the CPG (Central pattern generator), which makes it supremely adapted for environment. Based on this fact, firstly a snake-like robot controller with cyclic inhibitory CPG model is designed, and then the stability of single neuron, CPG model and the neuron oscillator network (NON) are analyzed. By implementing this control architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot named "Perambulator-Ⅰ", preliminary policies for serpentine locomotion about parameter setting of the CPG controller to modulate the number of S shape, the curve of body shape, locomotion velocity and the curve of locomotion trajectory are presented. Moreover, "Perambulator-Ⅰ" can successfully exhibit serpentine locomotion by using output of the proposed CPG controller. The results provide a realistic approach to design an artificial CPG controller.

国家自然科学基金资助项目(60375029)。