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个人信息Personal Information
教授
博士生导师
硕士生导师
主要任职：Professor, Head of Lab of Intelligent System
其他任职：自动化技术研究所所长
性别：男
毕业院校：英国杜伦大学
学位：博士
所在单位：控制科学与工程学院
学科：控制理论与控制工程. 模式识别与智能系统. 检测技术与自动化装置
办公地点：智能系统课题组
课题组网址http://lis.dlut.edu.cn/
联系方式：0411-84709010 wangzl@dlut.edu.cn
电子邮箱：wangzl@dlut.edu.cn
Locomotion Patterns based on a CPG Model of Snake Robot
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论文类型：会议论文
发表时间：2017-01-01
收录刊物：CPCI-S
卷号：105
页面范围：588-593
关键字：Locomotion Patterns; CPG Network Model; Laboratory Simulation; Snake Robot
摘要：The large number and scales of earthquake disasters have occurred around the world in the past decade. In order to mitigate damages from earthquake disasters, the intelligent rescue systems with high information technology and robot technology have been expected. With the rapid development of rescue robot, snake robots have great potential in the search and rescue operation of the earthquake disasters due to their slim and flexible bodies. In this paper, a novel control method for a snake robot is proposed. Our method can generate different types of locomotion pattern in the complex terrain, and it may employ a central pattern generator (CPG) model based on Hopf oscillators in order to acquire desired locomotion patterns. The simulation results of the proposed method show that the proposed method is feasible.