六足仿生机器人运动控制CPG机理与控制策略研究  

Research on CPG Mechanism and Control Strategy for Motion Control of Hexapod Bionic Robot

作　　者：林放[1] Lin Fang(Jiangmen Institute of Vocational Technology,Jiangmen Guangdong 529030)

机构地区：[1]江门职业技术学院,广东江门529030

出　　处：《现代工业经济和信息化》2022年第5期40-41,55,共3页Modern Industrial Economy and Informationization

摘　　要：本次研究的六足仿生机器人具有自己独特的结构,这种机器人自由度高,并且腿与腿之间也有较强的耦合性,对于军事、救援以及太空探索等活动都有着不俗的表现,但是正是因为它具有自由度高、耦合度强的特点,就表明它难以控制。为了克服这些问题,提出了一种基于中枢模式发生器(CPG)的仿生运动控制方式。在CPG的基础上,根据大自然中节律动物的脚步产生方法来加以建模,进而产生了多足型机器人的步态[1]。而这种在CPG基础上形成的仿生运动控制方法并不要求进行复杂的机器人建模流程,它的控制结构简化,同时步态生成多样化。The hexapod bionic robot in this study has its own unique structure.This robot has high degrees of freedom and strong coupling between legs,which is not bad for military,rescue,and space exploration activities,but precisely because it has high degrees of freedom and strong coupling,it shows that it is difficult to control.To overcome these problems,a bionic motion control method based on the central pattern generator(CPG)is proposed.Based on the CPG,the footsteps of rhythmic animals in nature were modeled based on the method of footstep generation,which in turn generated the gait of a multi-legged robot.This bionic motion control method formed on the basis of CPG does not require a complex robot modeling process,and it has a simplified control structure along with diverse gait generation.

关 键 词：六足机器人 运动控制 CPG运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]