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The programmable CPG model based on Matsuoka oscillator and its application to robot locomotion

International Journal of Modeling, Simulation, and Scientific Computing 2020年第3期11卷 22-39页

作者： Qiang Lu Zhaochen Zhang Chao Yue College of Medical Information Engineering Shandong First Medical Universityand Shandong Academy of Medical SciencesTaian 271000Shandong ProvinceP.R.China

The central pattern generator(CPG)is an important functional unit in the spinal cord which can produce rhythmic signals to control ***,there has been a growing interest in programmable central pattern generators(PCPG).In this paper,a new PCPG oscillator and a generic PCPG model based on the Matsuoka oscillator are *** perturbation method is used to determine the convergence of the generic PCPG *** sine signal,the mix signal and chaotic signals are provided as inputs to the model,and the simulation results show that the generic PCPG can learn arbitrary periodic *** this paper,the generic PCPGs are allocated at each joint of the compass-like and the three-link robots and their outputs are chosen as joint position *** simulations show that the generic PCPG can be used to control robot locomotion *** contributions of this paper are as follows:(1)A new PCPG oscillator based on the Matsuoka oscillator is presented as a beneficial enhancement to the PCPG oscillators.(2)A generic PCPG model is built comprising three PCPG *** can learn any periodic input *** findings are a significant contribution to generic PCPG research.

关键词： Programmable central pattern generator rhythmic oscillator robot locomotion

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A Novel Design of an Aquatic Walking robot Having Webbed Feet

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International Journal of Automation and computing 2017年第5期14卷 576-588页

作者： Saad Kashem Hutomo Sufyan Swinburne University of Technology Sarawak CampusJalan Simpang Tiga 93350KuchingSarawakMalaysia

Inspired by the movement of duck that is able to move on land and water utilizing its webbed feet, a novel design of an amphibious robot has been presented in this paper. In contrary, the orthodox design of amphibious robot utilizes the tracks or wheels on land and switches to the propeller to move in water. The proposed design employs same propulsion system as webbed feet to move on land and water. After studying the movement of the duck underwater, a conclusion has been drawn that it is swimming in the water by moving its webbed feet back and forth to generate force to push its body forward. Recreating this phenomenon of duck movement, hybrid robot locomotion has been designed and developed which is able to walk, swim and climb steps using the same propulsion system. Moreover, webbed feet would be able to walk efficiently on muddy, icy or sandy terrain due to uneven distribution of robot weight on the feet. To be able to justify the feasibility of the design, simulations are being carried out using SimulationXpress of the SOLIDWORKS software.

关键词： Amphibious robot webbed feet duck feet robot locomotion swim walk climb propulsion system.

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