The Inspiration for the Motion Control of Robot from Central Pattern Generator of Animal's Locomotion Instruction
LI Hong-kai1, SUN Jiu-rong2, DAI Zhen-dong1
1. Institute of Bio-inspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China; 2. School of Life Sciences, Peking University, Beijing 100871, China
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..
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.
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