CPG Control for Biped Hopping Robot in Unpredictable Environment

作     者：Tingting Wang Wei Guo Mantian Li Fusheng Zha Lining Sun 

作者机构：State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin 150080P.R.China 

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

年 卷 期：2012年第9卷第1期

页      面：29-38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] 081404[工学-供热、供燃气、通风及空调工程] 0802[工学-机械工程] 0836[工学-生物工程] 0814[工学-土木工程] 0702[理学-物理学] 

基　　金：This research was financially supported by the National High Technology Research and Development Program 863 of China (Grant No. 2008AA04Z211)  the National Natural Science Foundation of China (Grant No.60901074  Grant No.61175107) and State Key Laboratory of Robotics and System (Grant No. SKLRS 200901A02) 

主　　题：biped robot unpredictable environment hopping motion control bionic control CPG 

摘      要：A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion control task is divided into two simple parts： motion sequence control and output force control. Inspired by a two-level CPG model, a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint, while various feedback information are introduced into the control mechanism. Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks. The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information, and adapt to unpredictable environment by adjusting outputs of neurons. The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform, and stable adaptive motions are obtained.