[1]张益军,朱庆保.基于中枢模式发生器的步态控制策略的研究[J].南京师范大学学报(工程技术版),2005,05(03):054-57.
　ZHANG Yijun,ZHU Qingbao.Research in Locomotion Control Based on Central Pattern Generation[J].Journal of Nanjing Normal University(Engineering and Technology),2005,05(03):054-57.
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基于中枢模式发生器的步态控制策略的研究
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南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
05卷
期数:
2005年03期
页码:
054-57
栏目:
出版日期:
2005-09-30

文章信息/Info

Title:
Research in Locomotion Control Based on Central Pattern Generation
作者:
张益军; 朱庆保
南京师范大学数学与计算机科学学院, 江苏南京210097
Author(s):
ZHANG Yijun;  ZHU Qingbao
School of Mathematics and Computer Science, Nanjing Normal University, Jiangsu Nanjing 210097, China
关键词:
运动控制;  中枢模式发生器;  细胞神经网络;  模糊神经网络;  智能控制
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
分类号:
TP242;
摘要:
(南京师范大学数学与计算机科学学院,江苏南京210097)[摘要]针对基于仿生学原理的足式机器人步态控制方法,探讨了基于细胞神经网络(CNN)的中枢模式发生器(CPG)实现机器人运动控制的基本思想及不足.提出了基于模糊神经网络(FNN)和CNN的CPG步态控制模型,给出了CNN中自动波稳定性的数值判别方法.FNN与遗传算法(GA)相结合形成的调整机制的引入,增强了系统的抗干扰能力.仿真结果表明,此控制策略具有较理想的效果,并且原理简单,易于实现.
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 .

参考文献/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.

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备注/Memo

备注/Memo:
作者简介: 张益军( 1979-) , 硕士研究生. 主要从事智能控制等方面的学习和研究. E-m ail: zyjcar@ 163. com
通讯联系人: 朱庆保( 1955-) , 教授. 主要从事机器人路径规划, 人工智能与智能控制等方面的教学与研究.E-m ail:zhuq ingbao@ n jnu. edu. cn
更新日期/Last Update: 2013-04-29