机器海豚多模态游动CPG控制  

CPG-based Multi-modal Swimming Control for Robotic Dolphin

作　　者：汪明[1] 喻俊志[2] 谭民[2] 王会东[3] 李成栋[1] 

机构地区：[1]山东建筑大学信息与电气工程学院,济南250101 [2]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [3]山东财经大学管理科学与工程学院,济南250014

出　　处：《自动化学报》2014年第9期1933-1941,共9页Acta Automatica Sinica

基　　金：国家自然科学基金(61375102;61333016;61273326;61105077);山东省优秀中青年科学家科研奖励基金(BS2013DX018;BS2012DX026;BS2013DX043)资助~~

摘　　要：受自然界海豚超凡的水中游动技能启发,机器海豚在军事和民用上具有潜在的广泛应用前景,因此受到研究人员的极大关注.然而,要实现机器海豚在水中自如地机动游动,必须为机器海豚设计一个具有丰富游动技能的多模态控制器.为此,通过振荡器建模与分析、中枢模式发生器(Central pattern generation,CPG)与机器海豚关节配对、CPG单元间耦合等环节建立了机器海豚的链式弱耦合CPG运动控制模型,提出一种基于CPG激发产生多模态振荡波形控制机器海豚运动的方法.详细阐述了机器海豚样机研制、控制器设计、运动控制实现与实验测试等内容.向前直游、转弯、浮潜等游动实验结果验证了所提出的机器海豚CPG运动控制方法的有效性和实用性.Inspired by the extraordinary swimming skills of dolphins in the nature, robotic dolphin, which has potentially wide applications in military and civil domains, has attracted increased attention recently. However, it must have a special locomotion controller for a robotic dolphin to achieve abundant swimming modes. To solve this problem, a central pattern generation （CPG）-based locomotion controller has been proposed in this paper. The CPG locomotion model was set up by modeling weakly coupled oscillators, which well match between the CPGs and the joint configuration of the robotic dolphin. In addition, the development of a robotic prototype, the controller design, as well as the aquatic tests are detailed. The multi-modal control experiments, such as swimming forward, turning, and heaving, verify the effectiveness and practicality of the proposed CPG-based locomotion control method for the multi-Joint robotic dolphin.

关 键 词：仿生机器人 机器海豚 运动控制 中枢模式发生器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]