Knowledge presentation by the MNSM-based controller for swimming motion of a snake-like robot  

作　　者：卢振利 Xie Yafei Xu Huigang Borovac Branislav Li Bin 

机构地区：[1]School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu 215500, P. R. China [2]State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110014, P. R. China [3]School of Information and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, P. R. China [4]Faculty of Technical Sciences, University of Novi Sad, Novi Sad 21000, Serbia

出　　处：《High Technology Letters》2018年第1期103-112,共10页高技术通讯（英文版）

基　　金：Supported by the National Natural Science Foundation of China(No.61333016)

摘　　要：A MNSM( mirror neuron system mechanism)-based controller is developed to present the swimming rhythm of a snake-like robot in Cartesian space. From engineering viewpoint,the proposed controller is composed of a neuron for rhythm angle and two neurons for motion knowledge in XY plane. The given knowledge is a rhythm curve for swimming motion of a snake-like robot. Experimental results show that the proposed controller can present the knowledge of swimming rhythm,which represents the corresponding control law to drive the snake-like robot to swim with different speeds and turning motion. This work provides a novel method to present the knowledge for swimming motion of snake-like robots.A MNSM( mirror neuron system mechanism)-based controller is developed to present the swimming rhythm of a snake-like robot in Cartesian space. From engineering viewpoint,the proposed controller is composed of a neuron for rhythm angle and two neurons for motion knowledge in XY plane. The given knowledge is a rhythm curve for swimming motion of a snake-like robot. Experimental results show that the proposed controller can present the knowledge of swimming rhythm,which represents the corresponding control law to drive the snake-like robot to swim with different speeds and turning motion. This work provides a novel method to present the knowledge for swimming motion of snake-like robots.

关 键 词：MIRROR NEURON system mechanism (MNSM) SWIMMING MOTION snake-like robot knowledge PRESENTATION 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]