基于中枢模式发生器的仿生机器狗步态控制的应用研究  

Based on the CPG application of bionic robot gait study

作　　者：张美金[1] 杜晶[1] 陈明霞[1] 

机构地区：[1]辽宁工程技术大学电气与控制学院,辽宁葫芦岛125105

出　　处：《计算机测量与控制》2012年第5期1245-1247,共3页Computer Measurement &Control

摘　　要：由于人工规划产生的步态是比较僵硬的、缓慢的,缺乏灵活的自组织能力,与真正的动物步态存在很大差别;文章提出了机器狗生物步态的概念;以生物的中枢模式发生器CPG模型为核心建立仿生四足机器狗运动控制系统;根据哺乳动物的肢体运动关系,建立机器狗膝髋关节运动关系方程,并设计系统软硬件;设计的控制器能够有效地克服机器狗关节轨迹跟踪控制中耦合、力矩非线性等因素的影响,且具有自适应能力;通过仿真验证了应用于机器狗的生物CPG控制机理的控制方法是有效的。Due to the artificial gait planning is more rigid, slow, lack of flexible self--organizing capacity, and the real animal gait there is a big difference. This paper presents a robotic gait of biological concepts. The biological central pattern generator CPG model is the core to establish four--legged robot motion control system, using different weight matrix to be the typical four--legged robot gait. According to the mammalian limb movement, and setting up the robot knee hip movements between the equation. Effectively overcome the tracking control of robot joint coupling, torque and other factors, non--linear. Design system software and hardware, and finally by simulation based on the biological rhythm of CPG control mechanism of the robot motion control method is effective.

关 键 词：嵌入式 生物机器狗 步态控制 中枢模式发生器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]