基于Hopf振荡器实现的蛇形机器人的步态控制

doi:10.13973/j.cnki.robot.2014.0688

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引用本文:
高琴, 王哲龙, 赵红宇. 基于Hopf振荡器实现的蛇形机器人的步态控制[J]. 机器人, 2014, 36(6): 688-696.DOI: 10.13973/j.cnki.robot.2014.0688. GAO Qin, WANG Zhelong, ZHAO Hongyu. Gait Control for a Snake Robot Based on Hopf Oscillator Model. ROBOT, 2014, 36(6): 688-696. DOI: 10.13973/j.cnki.robot.2014.0688.

摘要

针对生物蛇不同步态的运动特点，提出了一种基于Hopf振荡器实现的蛇形机器人的中枢模式发生器（CPG）运动控制方法．首先，利用具有非线性极限环特性的耦合的Hopf振荡器构建出能够实现蜿蜒运动和侧向蜿蜒运动两种步态的链式网络模型．然后，根据动力学仿真软件建立机器人的虚拟样机，利用模型中振荡器的输出作为蛇形机器人分布式多冗余度关节的控制信号来驱动前进，成功实现了以上两种运动方式，并讨论了CPG的模型参数与机器人前进速度的关系．最后，在实物样机上的实验进一步验证了所提出的方法在实现蛇形机器人多种步态控制方面的有效性．

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关键词 ：蛇形机器人, 中枢模式发生器, Hopf振荡器, 蜿蜒运动, 侧向蜿蜒运动

Abstract：

A central pattern generator (CPG) based locomotion method for a snake robot by Hopf oscillators is developed according to different gait characteristics of biological snake. Firstly, coupled Hopf oscillators with the feature of nonlinear limit cycle are selected to construct a chain network model that can achieve serpentine locomotion and sidewinding locomotion. Then, a simulated snake robot is created by a dynamics simulation software and is driven by the outputs of the oscillators in the model which are able to generate control signals for distributed redundancy joints of the snake robot. A successful implementation of the two kinds of gaits in simulation environment is demonstrated and the relation between CPG parameters and the forward velocity of the robot is also discussed. Finally, experimental results on a real snake robot confirm the effectiveness of the proposed method to achieve different gaits of the snake robot.

Key words： snake robot central pattern generator Hopf oscillator serpentine sidewinding

收稿日期: 2014-04-23 录用日期: 2014-07-25

TP242

基金资助:

辽宁省高等学校杰出青年学者成长计划资助项目（LJQ2012005）；国家863计划资助项目（2012AA04150502）；国家自然科学基金资助项目（61174027）；国家科技支撑计划资助项目（2012BAK15B05）

通讯作者: 王哲龙，wangzl@dlut.edu.cn E-mail: wangzl@dlut.edu.cn

作者简介: 高琴（1985-），女，博士生．研究领域：仿生机器人建模与控制方法．
王哲龙（1973-），男，博士，教授．研究领域：机器人技术和无线传感器网络．
赵红宇（1984-），女，博士生．研究领域：惯性传感器的误差分析和惯性导航．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2014.0688 或 https://robot.sia.cn/CN/Y2014/V36/I6/688

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