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动物的节律运动具有规则的运动形式和良好的稳定性、适应性,因此这种运动方式适合用于腿式机器人的运动控制。针对四足机器人难以协调控制的问题,通过对高等动物神经学理论和节律运动的研究、改进与仿真,设计了一种基于中枢模式发生器(CPG)的运动控制方法,并借助Matsuoka振荡神经元模型建立了完整的四足机器人仿生运动控制网络模型。以自激行为产生不同相位的节律运动信号并控制执行器进行相应的动作,实现了一系列典型的四足机器人运动步态和足端轨迹的生成与转化,有效地解决了机器人四足协调运动控制的难题,提高了机器人在复杂环境中的运动和适应能力。
Animal rhythmic movement has a regular form of movement and good stability, adaptability, so this mode of exercise is suitable for the leg-type robot motion control. Aiming at the problem that quadruped robot can not be coordinated and controlled, a motion control method based on central modal generator (CPG) is designed through the research, improvement and simulation of higher animal neurological theory and rhythmic motility. With the aid of Matsuoka oscillating neurons The model establishes a complete four-legged robot bionic motion control network model. The self-excited behavior generates rhythmic motional signals of different phases and controls actuators to perform corresponding actions. A series of typical four-legged robots can generate and transform the kinematic gait and the foot-end trajectory, which effectively solves the problem that the four-legged coordinated movement Control of the problem, improve the robot in a complex environment of movement and adaptability.