TY - GEN
T1 - The CPG control algorithm for a climbing worm robot
AU - Wang, Wei
AU - Wang, Yingying
AU - Qi, Jinghao
AU - Zhang, Houxiang
AU - Zhang, Jianwei
PY - 2008
Y1 - 2008
N2 - In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory Central Pattern Generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing worm robot. Furthermore, by combining the CPG output with the feedback signal from the sucker, the robot realizes the trapezoidal wave gait and triangular wave gait. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.
AB - In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory Central Pattern Generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing worm robot. Furthermore, by combining the CPG output with the feedback signal from the sucker, the robot realizes the trapezoidal wave gait and triangular wave gait. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.
UR - https://www.scopus.com/pages/publications/51949101153
U2 - 10.1109/ICIEA.2008.4582600
DO - 10.1109/ICIEA.2008.4582600
M3 - 会议稿件
AN - SCOPUS:51949101153
SN - 9781424417186
T3 - 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008
SP - 675
EP - 679
BT - 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008
T2 - 2008 3rd IEEE Conference on Industrial Electronics and Applications, ICIEA 2008
Y2 - 3 June 2008 through 5 June 2008
ER -