Chaotic CPG Based Locomotion Control for Modular Self-reconfigurable Robot

作     者：Jizhuang Fan Yu Zhang Hongzhe Jin Xiaolu Wang Dongyang Bie Jie Zhao Yanhe Zhu 

作者机构：State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2016年第13卷第1期

页      面：30-38页

核心收录：

学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0836[工学-生物工程] 0702[理学-物理学] 080201[工学-机械制造及其自动化] 

基　　金：国家自然科学基金 Self-Planned Task of State Key Laboratory of Robotics and System (HIT) 

主　　题：chaotic CPG self-reconfigurable robot environment adaptability locomotion control model 

摘      要：The most important feature of Modular Self-reconfigurable Robot （MSRR） is the adaption to complex environments and changeable tasks. A critical difficulty is that the operator should regulate a large number of control parameters of modules. In this paper, a novel locomotion control model based on chaotic Central Pattern Generator （CPG） is proposed. The chaotic CPG could produce various rhythm signals or chaotic signal only by changing one parameter. Utilizing this characteristic, a unified control model capable of switching variable locomotion patterns or generating chaotic motion for modular self-reconfigurable robot is presented. This model makes MSRR exhibit environmental adaptability. The efficiency of the control model is verified through simulation and experiment of UBot MSRR platform.