基于CPG的仿蟹机器人复杂地形步态生成方法  

Gait generation method of crablike robot walking on complex terrain based on CPG

作　　者：王刚[1,2] 韩金华 韩世凯 陈曦[4] 叶秀芬[3] WANG Gang HAN Jinhua HAN Shikai CHEN Xi YE Xiufen(College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China College of Automation, Harbin Engineering University, Harbin 150001, China College of Mechanical and Electrical Engineering, Heilongjiang Institute of Technology, Harbin 150050, China)

机构地区：[1]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001 [3]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [4]黑龙江工程学院机电工程学院,黑龙江哈尔滨150050

出　　处：《中南大学学报（自然科学版）》2016年第12期4070-4080,共11页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金青年基金资助项目(51409058);黑龙江省自然科学基金资助项目(E2016017)~~

摘　　要：为了提高仿蟹机器人的复杂环境适应性,提出一种基于生物神经反射机理的自适应复杂地形步态生成方法。首先,采用互抑神经元振荡器构建仿蟹机器人CPG运动控制网络模型;其次,利用具有良好逼近能力的前馈神经网络将CPG输出的节律信号映射为步行足足端轨迹;然后,在CPG模型中引入基于力传感器触发的反射机制,实现了机器人自适应复杂地形步态生成;最后,通过仿蟹机器人复杂地形运动控制的实验研究,验证所提出的基于生物神经反射机理的自适应复杂地形步态生成方法的有效性。In order to improve the environmental adaptability of crablike robot in complex terrain, an adaptive gait generation method for complex terrain was proposed based on biological neural reflex mechanism. Firstly, a CPG network model of the crablike robot was built by mutual inhibition neural oscillator. Secondly, the rhythm signals generated by CPG model were mapped to walking leg trajectory by neural network. Then, the reflection mechanism triggered by force sensor was added to CPG model, to realize the adaptive gait generation for complex terrain. Finally, the motion control experiments of crablike robot in complex terrain were carried out to verify the effectiveness of adaptive gait generation method for complex terrain.

关 键 词：仿蟹机器人 中枢模式发生器(CPG) 步态生成 复杂地形 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]