机器海豚多模态游动CPG控制

汪明; 喻俊志; 谭民; 王会东; 李成栋

doi:10.3724/SP.J.1004.2014.01933

机器海豚多模态游动CPG控制

doi: 10.3724/SP.J.1004.2014.01933

1.
山东建筑大学信息与电气工程学院济南 250101;
2.
中国科学院自动化研究所复杂系统管理与控制国家重点实验室北京 100190;
3.
山东财经大学管理科学与工程学院济南 250014

基金项目:

国家自然科学基金（61375102，61333016，61273326，61105077），山东省优秀中青年科学家科研奖励基金（BS2013DX018，BS2012DX026，BS2013DX043）资助

详细信息

作者简介:
汪明山东建筑大学信息与电气工程学院副教授.主要研究方向为智能控制系统，仿生机器人，绿色建筑运行控制.本文通信作者.E-mail：xclwm@sdjzu.edu.cn

通讯作者:
汪明山东建筑大学信息与电气工程学院副教授.主要研究方向为智能控制系统，仿生机器人，绿色建筑运行控制.本文通信作者.E-mail：xclwm@sdjzu.edu.cn

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出版历程
- 收稿日期: 2013-06-05
- 修回日期: 2014-01-10
- 刊出日期: 2014-09-20

CPG-based Multi-modal Swimming Control for Robotic Dolphin

1.
School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101;
2.
The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190;
3.
School of Management Science and Engineering, Shandong University of Finance and Economics, Jinan 250014

Funds:

Supported by National Natural Science Foundation (61375102, 61333016, 61273326, 61105077), and the Excellent Young and Middle-aged Scientist Award Grant of Shandong Province of China (BS2013DX018, BS2012DX026, BS2013DX043)

摘要

摘要: 受自然界海豚超凡的水中游动技能启发，机器海豚在军事和民用上具有潜在的广泛应用前景，因此受到研究人员的极大关注. 然而，要实现机器海豚在水中自如地机动游动，必须为机器海豚设计一个具有丰富游动技能的多模态控制器. 为此，通过振荡器建模与分析、中枢模式发生器（Central pattern generation，CPG）与机器海豚关节配对、CPG单元间耦合等环节建立了机器海豚的链式弱耦合CPG运动控制模型，提出一种基于CPG激发产生多模态振荡波形控制机器海豚运动的方法. 详细阐述了机器海豚样机研制、控制器设计、运动控制实现与实验测试等内容. 向前直游、转弯、浮潜等游动实验结果验证了所提出的机器海豚CPG运动控制方法的有效性和实用性.
- 仿生机器人 /
- 机器海豚 /
- 运动控制 /
- 中枢模式发生器
Abstract: Inspired by the extraordinary swimming skills of dolphins in the nature, robotic dolphin, which has potentially wide applications in military and civil domains, has attracted increased attention recently. However, it must have a special locomotion controller for a robotic dolphin to achieve abundant swimming modes. To solve this problem, a central pattern generation (CPG)-based locomotion controller has been proposed in this paper. The CPG locomotion model was set up by modeling weakly coupled oscillators, which well match between the CPGs and the joint configuration of the robotic dolphin. In addition, the development of a robotic prototype, the controller design, as well as the aquatic tests are detailed. The multi-modal control experiments, such as swimming forward, turning, and heaving, verify the effectiveness and practicality of the proposed CPG-based locomotion control method for the multi-joint robotic dolphin.
- Biomimetic robotic /
- robotic dolphin /
- locomotion control /
- central patten generation (CPG)

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参考文献(24)

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机器海豚多模态游动CPG控制

doi: 10.3724/SP.J.1004.2014.01933

作者简介:
汪明山东建筑大学信息与电气工程学院副教授.主要研究方向为智能控制系统，仿生机器人，绿色建筑运行控制.本文通信作者.E-mail：xclwm@sdjzu.edu.cn

通讯作者:
汪明山东建筑大学信息与电气工程学院副教授.主要研究方向为智能控制系统，仿生机器人，绿色建筑运行控制.本文通信作者.E-mail：xclwm@sdjzu.edu.cn

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CPG-based Multi-modal Swimming Control for Robotic Dolphin

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留言板

机器海豚多模态游动CPG控制

doi: 10.3724/SP.J.1004.2014.01933

作者简介: 汪明 山东建筑大学信息与电气工程学院副教授.主要研究方向为智能控制系统，仿生机器人，绿色建筑运行控制.本文通信作者.E-mail：xclwm@sdjzu.edu.cn

通讯作者: 汪明 山东建筑大学信息与电气工程学院副教授.主要研究方向为智能控制系统，仿生机器人，绿色建筑运行控制.本文通信作者.E-mail：xclwm@sdjzu.edu.cn

计量

出版历程

CPG-based Multi-modal Swimming Control for Robotic Dolphin

计量

出版历程

目录

作者简介:
汪明山东建筑大学信息与电气工程学院副教授.主要研究方向为智能控制系统，仿生机器人，绿色建筑运行控制.本文通信作者.E-mail：xclwm@sdjzu.edu.cn

通讯作者:
汪明山东建筑大学信息与电气工程学院副教授.主要研究方向为智能控制系统，仿生机器人，绿色建筑运行控制.本文通信作者.E-mail：xclwm@sdjzu.edu.cn