基于双层级CPG的3维蛇形机器人运动控制方法

doi:10.13973/j.cnki.robot.180681

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乔贵方, 韦中, 张颖, 万其, 宋光明. 基于双层级CPG的3维蛇形机器人运动控制方法[J]. 机器人, 2019, 41(6): 779-787.DOI: 10.13973/j.cnki.robot.180681. QIAO Guifang, WEI Zhong, ZHANG Ying, WAN Qi, SONG Guangming. Double-Layered CPG Based Motion Control Method of the 3D Snake-like Robot. ROBOT, 2019, 41(6): 779-787. DOI: 10.13973/j.cnki.robot.180681.

摘要为实现3维蛇形机器人多模式运动控制，提出了一种基于双层级中枢模式发生器（CPG）的运动控制方法．该双层级CPG网络包含节律层和模式层，节律层的CPG神经元用于控制3维蛇形机器人的俯仰关节组和偏转关节组的相位关系，模式层的CPG神经元用于控制3维蛇形机器人关节组内各个关节的相位差及关节轨迹．首先，利用Kuramoto振荡器对CPG神经元进行建模，并确定CPG网络的层级结构和耦合拓扑；然后，基于蛇形约束曲线计算3维蛇形机器人侧滚运动、侧移运动、滑行运动及转向运动4种典型运动步态的控制参数；最后，通过联合仿真和实验验证该双层级CPG网络的控制性能．由实验结果可知，3维蛇形机器人的侧滚运动、侧移运动、滑行运动以及转向运动的实际速度分别能够达到3.9 cm/s、9.0 cm/s、2.1 cm/s和10.8°/s．因此，该方法能够有效地、灵活地控制3维蛇形机器人的多模式运动．

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	乔贵方
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关键词 ：蛇形机器人, 仿生控制, 中枢模式发生器(CPG), 多模式, 双层级CPG

Abstract：To control the multi-mode motion of the 3D snake-like robot, a motion control method based on the double-layered central pattern generator (CPG) is presented. The proposed double-layered CPG network includes the rhythmical layer and pattern layer. The CPG neurons in rhythmical layer control the phase relation between pitch joint groups and yaw joint groups of the 3D snake-like robot. The CPG neurons in pattern layer determine the phase relation and trajectory of each joint in the identical group of the 3D snake-like robot. Firstly, the CPG neurons are modeled by the Kuramoto oscillator. The layered architecture and the coupling topology of the proposed CPG network are determined. Secondly, the control parameters of four kinds of locomotion of the 3D snake-like robot, e.g. lateral rolling locomotion, sidewinding locomotion, slithering locomotion, and steering locomotion, are calculated based on the constraints of serpenoid curve. Finally, the control performance of the proposed double-layered CPG network is evaluated by the co-simulation and experiments. As shown in the experimental results, the actual velocity of the 3D snake-like robot is 3.9 cm/s, 9.0 cm/s, 2.1 cm/s, and 10.8°/s respectively when the snake-like robot performs lateral rolling locomotion, sidewinding locomotion, slithering locomotion, and steering locomotion. Consequently, the proposed method can control the multi-mode motion of the 3D snake-like robot effectively and flexibly.

Key words： snake-like robot bio-inspired control central pattern generator (CPG) multi-mode double-layered CPG

收稿日期: 2018-11-22 录用日期: 2019-05-10

TP24

基金资助:江苏省自然科学基金青年基金（BK20170763）；江苏省高校自然科学基金（16KJB460013）；江苏省远程测控重点实验室开放基金（2242015k30005）

通讯作者: 乔贵方,qiaoguifang@126.com E-mail: qiaoguifang@126.com

作者简介: 乔贵方(1987-),男,博士,讲师.研究领域:机器人仿生控制方法,工业机器人标定技术.
韦中(1989-),男,博士生.研究领域:轮腿机器人控制技术.
张颖(1987-),女,博士,讲师.研究领域:多机器人系统,遥操作控制技术.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.180681 或 https://robot.sia.cn/CN/Y2019/V41/I6/779

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