Qr code
DALIAN UNIVERSITY OF TECHNOLOGY Login 中文
Wang Zhelong

Professor
Supervisor of Doctorate Candidates
Supervisor of Master's Candidates


Main positions:Professor, Head of Lab of Intelligent System
Other Post:自动化技术研究所所长
Gender:Male
Alma Mater:University of Durham
Degree:Doctoral Degree
School/Department:School of Control Science and Engineering
Discipline:Control Theory and Control Engineering. Pattern Recognition and Intelligence System. Detection Technology and Automation Device
Business Address:Lab of Intelligent System
http://lis.dlut.edu.cn/
Contact Information:0411-84709010 wangzl@dlut.edu.cn
E-Mail:wangzl@dlut.edu.cn
MOBILE Version
Click: times

Open time:..

The Last Update Time:..

Current position: 英文主页 >> Scientific Research >> Paper Publications

基于振荡器模型的蛇形机器人的步态仿真

Hits : Praise

Indexed by:期刊论文

Date of Publication:2015-06-08

Journal:系统仿真学报

Included Journals:Scopus、PKU、ISTIC、CSCD

Volume:27

Issue:6

Page Number:1374-1380

ISSN No.:1004-731X

Key Words:蛇形机器人;Hopf振荡器;蜿蜒运动;侧向蜿蜒运动

Abstract:自然界中的生物蛇具有多种周期性运动方式如蜿蜒运动、直线运动和侧移运动等,步态的多样性极大的提高了自然蛇对复杂环境的适应性.生物学家通过研究证明脊椎动物的这种节律性运动方式是由中枢神经模式发生器(CPG)控制的.针对蛇形机器人高自由度的机械结构和不同步态的运动特点,利用Hopf振荡器模型的稳态特性建立了蛇形机器人的CPG步态模型,通过ADAMS仿真实现了1种九连杆八关节机器人样机的蜿蜒运动和三维空间内的侧向蜿蜒运动,并讨论了 2种步态之间的切换.仿真分析结果证明该CPG模型在实现蛇形机器人2种步态控制上的有效性.

 

Address: No.2 Linggong Road, Ganjingzi District, Dalian City, Liaoning Province, P.R.C., 116024