基于乐理的蛇形机器人控制方法研究

根据生物蛇和蛇形机器人的结构及运动特点 ,提出了基于乐理的蛇形机器人控制方法 ,定义了乐理的符号、规则与蛇形机器人控制过程的对应关系 ,编写了蜿蜒运动步态谱 .“勘查者—I”蛇形机器人上实现了蜿蜒运动的控制 .给出了今后的研究方向 .

Based on the structure and rhythmic movement of both biological snake and snake-like robot, music theory is adopted as a control method to study on a snake-like robot. And the relationship among the rules and symbols of musical theory as well as the snake-like robot control process is then defined. Thus the serpentine movement is melodized. The serpentine music is utilized to control “Perambulator-Ⅰ” snake-like robot. Finally the aspects of future research are discussed.

国家 8 6 3计划资助项目 ( 2 0 0 1AA4 2 2 36 0 )