TY - GEN
T1 - CPG-based control of smooth transition for body shape and locomotion speed of a snake-like robot
AU - Bing, Zhenshan
AU - Cheng, Long
AU - Huang, Kai
AU - Zhou, Mingchuan
AU - Knoll, Alois
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - In this paper, a lightweight central pattern generator(CPG) model is designed for a snake-like robot, to achieve smooth transition of body shape and locomotion speed. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time is designed and compared with other widely adopted CPG models. Then, the body shape and locomotion speed transitions in rolling gait are simulated based on the proposed CPG model. Compared with the sinusoid-based method, a smooth transition process can be achieved, without generating undesired movement or abnormal torque. Finally, extensive prototype experiments are conducted to demonstrate that the CPG-based control can effectively ensure smooth transition process and avoid abnormal torque, when the body shape and locomotion speed are changed.
AB - In this paper, a lightweight central pattern generator(CPG) model is designed for a snake-like robot, to achieve smooth transition of body shape and locomotion speed. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time is designed and compared with other widely adopted CPG models. Then, the body shape and locomotion speed transitions in rolling gait are simulated based on the proposed CPG model. Compared with the sinusoid-based method, a smooth transition process can be achieved, without generating undesired movement or abnormal torque. Finally, extensive prototype experiments are conducted to demonstrate that the CPG-based control can effectively ensure smooth transition process and avoid abnormal torque, when the body shape and locomotion speed are changed.
UR - http://www.scopus.com/inward/record.url?scp=85027986507&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989476
DO - 10.1109/ICRA.2017.7989476
M3 - Conference contribution
AN - SCOPUS:85027986507
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4146
EP - 4153
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -