动物运动指令的中枢模式发生器对机器人运动控制的启示

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (4424 KB) HTML (0 KB) 输出: BibTeX \| EndNote (RIS)
引用本文:
李宏凯, 孙久荣, 戴振东. 动物运动指令的中枢模式发生器对机器人运动控制的启示[J]. 机器人, 2008, 30(3): 279-288.. LI Hong-kai, SUN Jiu-rong, DAI Zhen-dong. The Inspiration for the Motion Control of Robot from Central Pattern Generator of Animal's Locomotion Instruction. ROBOT, 2008, 30(3): 279-288..

摘要动物运动指令的中枢模式发生器（central pattern generator，CPG）在动物的节律运动中发挥着重要的作用，对机器人的仿生控制方法研究具有借鉴意义．首先介绍了CPG的神经环路和控制机制，然后分析了组成CPG的非线性振荡器的典型数学模型，接着介绍了利用CPG进行机器人运动控制在国内外的发展现状，最后展望了其应用前景．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	李宏凯
	孙久荣
	戴振东

关键词 ：中枢模式发生器, 机器人, 节律运动, 运动控制

Abstract：Central pattern generator(CPG) of animal's locomotion instruction plays an important role in the rhythmic motion of animal,and it can be used as a reference for the research of the bionic control method of robot.Firstly,the nervous circuit and control mechanism of CPG are introduced in this paper,and then the classic mathematical model of the nonlinear oscillator which constitute CPG is analyzed,the development status at home and abroad of the motion control of robot based on CPG is introduced.At last,the application prospect is provided.

Key words： central pattern generator robot rhythmic motion motion control

收稿日期: 2007-08-24

ZTFLH:

TP242

基金资助:国家自然科学基金重点资助项目（60535020）；国家863计划资助项目（2007AA04Z201）

作者简介: 李宏凯(1981-)，男，博士生．研究领域：仿生机构，智能机器人．
孙久荣(1947-)，男，博士，教授．研究领域：生理学，生物物理学．
戴振东(1962-)，男，博士，教授．研究领域：仿生机构，运动力学，智能机器人，仿生材料．

链接本文:

http://robot.sia.cn/CN/ 或 http://robot.sia.cn/CN/Y2008/V30/I3/279

[1] 韩济生.神经科学纲要[M].北京:北京医科大学,中国协和医科大学联合出版社,1993.572-593.
[2] 卢振利,马书根,李斌,等.基于循环抑制CPG模型控制的蛇形机器人蜿蜒运动[J].自动化学报,2006,32(1):133-139.
[3] Wang L,Wang S,Cao Z Q,et al.Motion control of a robot fish based on CPG[A].Proceedings of the IEEE International Conference on Industrial Technology[c].Piscataway,NJ,USA:IEEE,2005.1263-1268.
[4] 侯宇,方宗德,李公法.基于CPG的扑翼飞行节律运动控制[J].机械设计,2007,24(1):19-22.
[5] 郑浩峻,张秀丽,李铁民,等.基于CPG原理的机器人运动控制方法[J].高技术通讯,2003,13(7):64-68.
[6] 张益军,朱庆保.基于中枢模式发生器的步态控制策略的研究[J].南京师范大学学报(工程技术版),2005,5(3):54-57.
[7] 张秀丽,郑浩峻,段广洪.动物运动控制机理及对机器人控制的启示[J].机器人技术与应用,2002,5:24-26.
[8] Delcomyn F.Neural basis of rhythmic behavior in animals[J].Science,1980,210(4469):492-498.

[9] Marder E,Bucher D.Central pattern generators and the control of rhythmic movements[J].Current Biology,2001,11(23):986-996.

[10] Kazuki N,Tetsuya A,Yoshihito A.Design of an artificial central pattern generator with feedback controller[EB/OL].http://sapiens-ei.eng.hokudai.ac.jp/contents/downloads/paper/autesoft_2004_nakada.pdf,2004/2007.
[11] Duysens J E J,Van de Crommert H W A A.Neural control of locomotion:The central pattern generator from cats to humans[J].Gate and Posture,1998,7(2):131-141.

[12] McCrea D A.Supraspinal and segmental interactions[J].Canadian Journal of Physiology and Pharmacology,1996,74(4):513-517.

[13] Wilson D M.The central nervous control of flight in a locust[J].The Journal of Experimental Biology,1961,38(2):471-490.
[14] Wilson D M.Central nervous mechanisms for the generation of rhythmic behavior in arthropods[J].Symposia of the Society for Experimental Biology,1966,20:199-228.
[15] Wilson DM,Wyman R J.Motor output patterns during random and rhythmic stimulation of locust thoracic ganglia[J].Biophysical Journal,1965,5(2):121-143.

[16] Brown T G.The intrinsic factors in the act of progression in the mammal[J].Proceedings of the Royal Society of London,Series B,1911.84(572):308-319.
[17] Brown T G.The factors in rhythmic activity of the nervous system[J].Proceedings of the Royal Society of London,Series B,1912,85(579):278-289.

[18] Orlovsky G N,Deliagina T G,Grillner S.Neural Control of Locomotion:From Mollusc to Man[M].UK:Oxford University Press,1999.
[19] Ivashko D G,Prilutsky B I,Markin S N,et al.Modeling the spinal cord neural circuitry controlling cat hindlimb movement during locomotion[J].Neurocomputing,2003,52-54:621-629.
[20] Rybak I A,lvashko D G,Prilutsky B I,et al.Modeling neural control of locomotion:Integration of reflex circuits with CPG[J].Lecture Notes in Computer Science,2002,2415:99-104.
[21] Bear M F,Connors B,Paradiso M,et al.Neuroscience:Exploring the Brain[M].Baltimore,USA:Lippincott Williams and Wilkins,2000.
[22] Szucs A,Varona P,Volkovskii A R,et al.Interacting biological and electronic neurons generate realistic oscillatory rhythms[J].Neuroreport,2000,11(3):563-569.

[23] Hooper S L.Movement control:Dedicated or distributed?[J].Current Biology,2005,15(21):878-880.

[24] Pearson K G.Common principles of motor control in vertebrates and invertebrates[J].Annual Review of Neuroscience,1993,16:265-297.
[25] Pearson K.Motor systems[J].Current Opinion in Neurobiology,2000,10(5):649-654.

[26] Ogihara N,Yamazaki N.Generation of human bipedal locomotion by a bio-mimetic neuro-musculo-skeletal model[J].Biological Cybernetics,2001,84(1):1-11.

[27] Taga G.A model of the neuro-musculo-skeletal system for anticipatory adjustment of human locomotion during obstacle avoidance[J].Biological Cybernetics,1998,78(1):9-17.

[28] Ok S,Kim D S.Evolution of the CPG with sensory feedback for bipedal locomotion[J].Lecture Notes in Computer Science,2005,3611:714-726.
[29] Grillner S,Zangger P.On the central generation of locomotion in the low spinal cat[J].Experimental Brain Research,1979,34(2):241-261.
[30] Korn H,Fanre P.Is there chaos in the brain?Ⅱ.Experimental evidence and related models[EB/OL].http://www.pasteur.fr/recherche/unites/neubiomol/ARTICLES/2003revCRAS.pdf,2003/2007.
[31] Getting P A.Neural Control of Rhythmic Movements in Vertebrates[M].New York,USA:John Wiley and Sons,1988.
[32] Lundberg A.Half-centers revisited[A].Advances in Physiological Science[M].New York,USA:Pergamon,1980,vol.1.155-167.
[33] Taga G,Yamaguchi Y,Shimizu H.Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment[J].Biological Cybernetics,1991,65(3):147-159.

[34] Manor Y,Bose A,Booth V,et al.Contribution of synaptic depression to phase maintenance in a model rhythmic network[J].Journal of Neurophysiology,2003,90(5):3513-3528.

[35] Nishii J.Legged insects the optimal locomotor pattern based on the energetic cost[J].Biological Cybernetics,2000,83(5):435-442.

[36] Verdaasdonk B W,Koopman H F J M,Van Der Helm F C T.Energy efficient and robust rhythmic limb movement by central pattern generators[J].Neural Networks,2006,19(4):388-400.

[37] Wilson H R,Cowan J D.Excitatory and inhibitory interactions in localized populations of model neurons[J].Biophysical Journal,1972.12(1):1-24.
[38] Matsuoka K.Sustained oscillations generated by mutually inhibiting neurons with adaptation[J].Biological Cybernetics,1985,52(6):367-376.

[39] Matsuoka K.Mechanisms of frequency and pattern control in the neural rhythm generators[J].Biological Cybernetics,1987,56(5-6):345-353.

[40] Van der Pol B,Van der Mark J.The heartbeat considered as a relaxation oscillation,and an electrical model of the heart[J].Philosophical Magazine.1928,6(38):763-775.
[41] Rayleigh J W S,Lindsay R B.The Theory of SoundM].New York,USA:Dover Publications,1976.
[42] Inagaki S,Yuasa H,Suzuki T,et al.Wave CPG model for autonomous decentralized multi-legged robot:Gait generation and walking speed control[J].Robotics and Autonomous Systems,2006,54(2):118-126.

[43] Conradt J,Varshavskaya P.Distributed central pattern generator control for a serpentine robot[EB/OL].http://people.csail.mit.edu/paulina/papers/icann03/ieann03.pdf,2003/2007.
[44] Ijspeert A J.A 3-D biomechanical model of the salamander[A].Proceedings of the Second International Conference on Virtual Worlds[C].London,UK:Springer-Verlag,2000.225-234.
[45] Ijspeert A J.A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander[J].Biological Cybernetics,2001,84(5):331-348.

[46] Ijspeert A J,Crespi A,Ryczko D,et al.From swimming to walking with a salamander robot driven by a spinal cord model[J].Science,2007,315(5817):1416-1420.

[47] Billard A,Ijspeert A J.Biologically inspired neural controllers for motor control in a quadruped robot[A].Proceedings of the International Joint Conference on Neural Networks[C].Piscataway,NJ,USA:IEEE,2000.637-641.
[48] Fukuoka Y,Kimura H,Hada Y,et al.Adaptive dynamic walking of a quadruped robot 'Tekken' on irregular terrain using a neural system model[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2003.2037-2042.
[49] Buchli J,Iida F,Ijspeert A J.Finding resonance.Adaptive frequency oscillators for dynamic legged locomotion[A].Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,NJ,USA:IEEE,2006.3903-3909.
[50] Arena P,Fortuna L,Frasca M,et al.A CNN-based chip for robot locomotion control[J].IEEE Transactions on Circuits and Systems I:Regular Papers,2005,52(9):1862-1871.

[51] Lewis M A,Tenore F,Etienne-Cummings R.CPG Design using Inhibitory Networks[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE.2005.3682-3687.
[52] Tenore F,Vogelstein R J,Etienne-Cummings R,et al.A spiking silicon central pattern generator with floating gate synapses[A].Proceedings of the IEEE International Symposium on Circuits and Systems[C].Piscataway,NJ,USA:IEEE,2005.4106-4109.
[53] Vogelstein R J,Tenore F,Etienne-Cummings R,et al.Dynamic control of the central pattern generator for locomotion[J].Biological Cybernetics,2006,95(6):555-566.

[54] Tenore F,Etienne-Cummings R,Lewis M A.A programmable array of silicon neurons for the control of legged locomotion[A].Proceedings of the IEEE International Symposium on Circuits and Systems[C].Piscataway,NJ,USA:IEEE,2004.349-352.
[55] Nakada K,Asai T,Amemiya Y.An analog neural oscillator circuit for locomotion controller in quadruped walking robot[A].Proceedings of the International Joint Conference on Neural Networks[C].Piscataway,NJ,USA:IEEE,2003.983-988.
[56] Nakada K,Asai T,Hirose T,et al.Analog current-mode CMOS implementation of central pattern generator for robot locomotion[A].Proceedings of the IEEE International Joint Conference on Neural Networks[C].Piscataway,NJ,USA:IEEE,2005.6396-44.
[57] Lewis M A,Etienne-Cummings R,Cohen A H,et al.Toward biomorphic control using custom aVLSI CPG chips[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2000.494-500.
[58] Matsubara T,Morimoto J,Nakanishi J,et al.Learning sensory feedback to CPG with policy gradient for biped locomotion[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,2005.4164-4169.
[59] Komatsu T,Usui M.Dynamic walking and running of a bipedal robot using hybrid central pattern generator method[A].Proceedings of the IEEE International Conference on Mechatronics and Automation[C].Piscataway,NJ,USA:IEEE,2005:987-992.
[60] Zhang X L,Duan G H,Zheng H J,et al.Bionic design of the quadrupedal robot and motion simulation[A].Proceedings of the IEEE International Conference on Robotics,Intelligent Systems and Signal Processing[C].Piscataway,NJ,USA:IEEE,2003.137-141.
[61] Cheng Z F,Zheng H J,Zhang X L,et al.The CPG-based bionic quadruped system[A].Proceedings of the IEEE International Conference on Systems,Man and Cybernetics[C].Piscataway,NJ,USA:IEEE,2003.1828-1833.
[62] 卢振利,马书根,李斌,等.基于循环抑制CPG模型的蛇形机器人控制器[J].机械工程学报,2006,42(5):137-143.
[63] 卢振利,马书根,李斌,等.基于循环抑制CPG模型控制的蛇形机器人三维运动[J].自动化学报,2007,33(1):54-58.