Pubblicazione scientifica

CPG-based behavior design and implementation for a biomimetic amphibious robot

FILONE TECNOLOGICO	TEMA
produzione e raccolta

RIASSUNTO

This paper presents the behavior design and multimodal locomotion control of a biomimetic amphibious robot based on a bio-inspired CPG (central pattern generator). A set of four key parameters are introduced serving as external stimuli to shape the CPG rhythmic activities where necessary speed and orientation modulation as well as 3-D locomotion can be obtained. In terms of the built parameter set, a library of movement primitives based on finite state machine is established to facilitate rapid and smooth gait transitions. To enhance adaptive behaviors, well-integrated sensory feedback by means of two liquid-level detectors enables the gait transition between ground and water autonomously. Simulations and experiments are also conducted to demonstrate the feasibility of a behavior-based control architecture governed by CPGs.

DATA

Data di pubblicazione: 01/05/2011

AUTORI

RUI DING
JUNZHI YU
QINGHAI YANG
MIN TAN
JIANWEI ZHANG

ENTE DI AFFERENZA

KEY LAB
DEPT INFORMATICS UNIV HAMBURG GERMANY

RIVISTA

2011 IEEE International Conference on Robotics and Automation (Page(s): 209-214)

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