Central Pattern Generator Based Control of a Roller-Skating Robot

Author

Wenzhi, Zhang ; Qingying, Zhao

Author_Institution

Coll. of Mech. Eng., Inner Mongolia Univ. of Technol., Hohhot, China

Volume

1

fYear

2010

fDate

18-20 Dec. 2010

Firstpage

352

Lastpage

356

Abstract

A bionic control method for a roller-skating robot locomotion is presented. The control system consisted of a high level controller and a central pattern generator(CPG) neural network. Each CPG is modeled as a modified Hopf nonlinear oscillator with frequency, amplitude and bias can be controlled individually. By changing the parameters of CPGs and connection weights between CPGs, the robot can realize multimodes locomotion of straight line skating and steering with different speed and direction. Furthermore, the control system can perform smooth transitions between different locomotion modes. The effectiveness of the proposed method is confirmed by simulation.

Keywords

legged locomotion; neurocontrollers; bionic control method; central pattern generator based control; central pattern generator neural network; high level controller; modified Hopf nonlinear oscillator; roller-skating robot locomotion; Central Pattern Generator; Leg-Wheel Hybrid Robot; Locomotion Control; Neural Network;

fLanguage

English

Publisher

ieee

Conference_Titel

Digital Manufacturing and Automation (ICDMA), 2010 International Conference on

Conference_Location

ChangSha

Print_ISBN

978-0-7695-4286-7

Type

conf

DOI

10.1109/ICDMA.2010.83

Filename

5701171