构成CPGs的非线性振荡器模型的介绍  

Introduction of non-linear oscillator model of CPGs

作　　者：王斐斐[1] 张奇志[1] 周亚丽[1] 

机构地区：[1]北京机械工业学院计算机及自动化系,北京100085

出　　处：《北京机械工业学院学报》2007年第4期31-36,共6页Journal of Beijing Institute of Machinery

基　　金：北京市属市管高教人才强教计划资助项目(PXM2007-014224-044655);北京市优秀人才培养资助(20061D05500600164)

摘　　要：基于中枢神经模式产生器(Central Pattern Generators,CPGs)的双足机器人中最基本的单元之一的非线性振荡器的几种数学模型,给出了利用Matsuoka振荡器设计5连杆步行机器人CPGs网络控制器的方法。仿真结果表明构成CPGs的各种非线性振荡器的数学模型均能产生频率与振幅可调的周期信号,所设计的CPGs网络控制器的输出信号稳定、可靠。Several kinds of mathematical models of the non-linear oscillator are studied as a basic unit of biped robot based on central pattern generators （CPGs）. An example is also given to show how to design the CPGs with Matsuoka oscillator for five-link biped robot. The simulation result shows that the rhythm signal produced from the CPGs network is stable and reliable, and every mathematical model of non-linear oscillator forming CPGs can produce steady periodicity signal. It is possible to control the amplitude and the frequency of the signal independently through adjustment of parameters of non-linear oscillator.

关 键 词：非线性振荡器 CPGs 双足机器人 HOPF RAYLEIGH Matsuoka 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]