Title :
CPG based locomotion control of pitch-yaw connecting modular self-reconfigurable robots
Author :
Cui, Xindan ; Zhu, Yanhe ; Zang, Xizhe ; Tang, Shufeng ; Zhao, Jie
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
Self-reconfiguration (SR) robots can take any form by connecting the modules in different configurations. The configurations formed by the modules have many degrees of freedom; therefore, designing a control method for whole body locomotion is more difficult than for the conventional robots. This paper utilizes central pattern generators (CPGs). Each neural oscillator of the network of CPGs works as a distributed joint controller of each module. Three kinds of snake-like configurations and their locomotion gaits have been summarized. Pitch-Yaw connecting snake-like configuration has the most flexibility, which is our research emphasis. Four moving gaits of the Pitch-Yaw have been controlled by the network of the CPG oscillators successfully, that is: worming, side winding, rolling and turning. All the locomotions have been simulated in ADAMS, the simulation experiment has verified the control method of CPGs we designed.
Keywords :
distributed control; legged locomotion; neural nets; position control; ADAMS; CPG oscillators; central pattern generators; distributed joint controller; locomotion control; modular self-reconfigurable robots; neural oscillator; pitch yaw control; robot locomotion gaits; Biological system modeling; Control systems; Design methodology; Joining processes; Mathematical model; Oscillators; Robotics and automation; Robots; Strontium; Turning; CPG; Locomotion control; Pitch-Yaw connecting; Snake-like configuration; self-reconfiguration robot;
Conference_Titel :
Information and Automation (ICIA), 2010 IEEE International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-5701-4
DOI :
10.1109/ICINFA.2010.5512288
