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Research in Locomotion Control Based on Central Pattern Generation(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2005年03期
Page:
54-57
Research Field:
Publishing date:

Info

Title:
Research in Locomotion Control Based on Central Pattern Generation
Author(s):
ZHANG Yijun;  ZHU Qingbao
School of Mathematics and Computer Science, Nanjing Normal University, Jiangsu Nanjing 210097, China
Keywords:
locom otion con tro ; l centra l pattern generation;  ce llular neura l ne tw orks;  fuzzy neura l ne tw orks;  inte ll-i g ent contro l
PACS:
TP242;
DOI:
-
Abstract:
Based on the contro lm ethod of am ple-robo ts. pace in bion ics princ iples, th is paper discusses the ma in -i dea that C entra l Pattern Generation ( CPG) is used to imp lem ent the hex apod s’ lo como tion controlw ith Ce llularNeura l N etworks ( CNNs) as its base, and fo r the shortages o f the m a in idea now ava ilab le, put forward a new CPG m ode l based on Fuzzy Neura l Netwo rks ( FNN) and CNN, and presen ts a num er ica l d iscrim inant techn ique fo r the stab ility of autow aves in CNN. Draw ing o f compensa tion based on FNN and Genetic Algor ithm s ( GA ) he ightens the system ant-i jamm ing capab ility. The sim ulation exper im ent shows that this contro l strategy has an idea l e ffect, is simp le in pr in ic ip le, and is easy to rea lize .

References:

[ 1] A rena P, Fo rtuna L, FrascaM, et al. Mu lt-i tem plate approach to artific ia l locom otion contro l[ J]. IEEE Trans on C irc and Syst, 2001( 2): 37 -40.
[ 2] A rena P, Fo rtuna L. Analog ce llular locom otion contro l o f hexapod robo ts[ J]. IEEE Cont SystM aga zine, 2002, 22 ( 6): 21 -36.
[ 3] Arena P, Fo rtuna L. Autow aves in sing le layer CNN s [ J] . IEEE Trans on C irc and Syst, 1999 ( 5 ): 351- 354.

Memo

Memo:
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Last Update: 2013-04-29