Research on a CPG Bionic Control System of Robot

Author

Guo, Wei ; Wang, Tingting ; Zha, Fusheng ; Li, Mantian

Author_Institution

Robot. Inst., Harbin Inst. of Technol., Harbin

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

787

Lastpage

792

Abstract

In this paper, a bionic control system of CPG(central pattern generator) of robot is build based on the three local neurons network model of CPG, and by simulating the motion control system of the animals consists of nerve and muscle. This control system consists of a CPG planner, a forward path of motorneuron, a feedback path of feedbackneuron, it not only realized producing the rhythmic motion, but also realized driving of object-controlled and feeding back of external information by simulating the controller and the sensorium in the motion control system of animals. Finally, we validate this control system on a robot joint simulation platform and show several simulation results.

Keywords

control systems; motion control; robots; CPG bionic control system; CPG planner; central pattern generator; feedbackneuron feedback path; local neurons network; motion control system; motorneuron forward path; robot joint simulation; Animals; Biological control systems; Biological system modeling; Control system synthesis; Control systems; Legged locomotion; Motion control; Neurofeedback; Neurons; Robot control; CPG; bionic control system; legged robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522263

Filename

4522263