Smooth transition of the CPG-based controller for snake-like robots

Dong Zhang; Qing Xiao; Zhengcai Cao; Ran Huang; Yili Fu

doi:10.1109/ROBIO.2017.8324830

Smooth transition of the CPG-based controller for snake-like robots

Dong Zhang
, Qing Xiao
, Zhengcai Cao
, Ran Huang
, Yili Fu

Beijing University of Chemical Technology
Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

Nature snakes vary their gaits flexibly according to different terrains, so it is significant for snake-like robots to incorporate more available locomotion patterns and switch gaits smoothly for good adaptability. In this paper, a bionic joint mechanism with parallel links and active orthogonal omni-wheel is designed, and a novel central pattern generator (CPG) architecture is proposed. A sine approach is used in the modulation of CPG parameters to avoid stiff impulses. Moreover, the method also can be applied in the beginning stage to improve the motion effectiveness and save energy. Simulation results are presented to illustrate the effectiveness of the proposed smooth transition method.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2716-2721
Number of pages	6
ISBN (Electronic)	9781538637418
DOIs	https://doi.org/10.1109/ROBIO.2017.8324830
State	Published - 2 Jul 2017
Externally published	Yes
Event	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 5 Dec 2017 → 8 Dec 2017

Publication series

Name	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/Territory	China
City	Macau
Period	5/12/17 → 8/12/17

Access to Document

10.1109/ROBIO.2017.8324830

Cite this

Zhang, D., Xiao, Q., Cao, Z., Huang, R., & Fu, Y. (2017). Smooth transition of the CPG-based controller for snake-like robots. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (pp. 2716-2721). (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324830

@inproceedings{b706e80cc15a4457895020e09e508783,

title = "Smooth transition of the CPG-based controller for snake-like robots",

abstract = "Nature snakes vary their gaits flexibly according to different terrains, so it is significant for snake-like robots to incorporate more available locomotion patterns and switch gaits smoothly for good adaptability. In this paper, a bionic joint mechanism with parallel links and active orthogonal omni-wheel is designed, and a novel central pattern generator (CPG) architecture is proposed. A sine approach is used in the modulation of CPG parameters to avoid stiff impulses. Moreover, the method also can be applied in the beginning stage to improve the motion effectiveness and save energy. Simulation results are presented to illustrate the effectiveness of the proposed smooth transition method.",

author = "Dong Zhang and Qing Xiao and Zhengcai Cao and Ran Huang and Yili Fu",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 ; Conference date: 05-12-2017 Through 08-12-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/ROBIO.2017.8324830",

language = "英语",

series = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2716--2721",

booktitle = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017",

address = "美国",

}

Zhang, D, Xiao, Q, Cao, Z, Huang, R & Fu, Y 2017, Smooth transition of the CPG-based controller for snake-like robots. in 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 2716-2721, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 5/12/17. https://doi.org/10.1109/ROBIO.2017.8324830

Smooth transition of the CPG-based controller for snake-like robots. / Zhang, Dong; Xiao, Qing; Cao, Zhengcai et al.
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2716-2721 (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Smooth transition of the CPG-based controller for snake-like robots

AU - Zhang, Dong

AU - Xiao, Qing

AU - Cao, Zhengcai

AU - Huang, Ran

AU - Fu, Yili

PY - 2017/7/2

Y1 - 2017/7/2

N2 - Nature snakes vary their gaits flexibly according to different terrains, so it is significant for snake-like robots to incorporate more available locomotion patterns and switch gaits smoothly for good adaptability. In this paper, a bionic joint mechanism with parallel links and active orthogonal omni-wheel is designed, and a novel central pattern generator (CPG) architecture is proposed. A sine approach is used in the modulation of CPG parameters to avoid stiff impulses. Moreover, the method also can be applied in the beginning stage to improve the motion effectiveness and save energy. Simulation results are presented to illustrate the effectiveness of the proposed smooth transition method.

AB - Nature snakes vary their gaits flexibly according to different terrains, so it is significant for snake-like robots to incorporate more available locomotion patterns and switch gaits smoothly for good adaptability. In this paper, a bionic joint mechanism with parallel links and active orthogonal omni-wheel is designed, and a novel central pattern generator (CPG) architecture is proposed. A sine approach is used in the modulation of CPG parameters to avoid stiff impulses. Moreover, the method also can be applied in the beginning stage to improve the motion effectiveness and save energy. Simulation results are presented to illustrate the effectiveness of the proposed smooth transition method.

UR - https://www.scopus.com/pages/publications/85049917230

U2 - 10.1109/ROBIO.2017.8324830

DO - 10.1109/ROBIO.2017.8324830

M3 - 会议稿件

AN - SCOPUS:85049917230

T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

SP - 2716

EP - 2721

BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

Y2 - 5 December 2017 through 8 December 2017

ER -

Zhang D, Xiao Q, Cao Z, Huang R, Fu Y. Smooth transition of the CPG-based controller for snake-like robots. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 2716-2721. (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017). doi: 10.1109/ROBIO.2017.8324830

Smooth transition of the CPG-based controller for snake-like robots

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this