CPG-based Locomotion Controller Design for a Boxfish-like Robot
نویسندگان
چکیده
منابع مشابه
A CPG-based Control Architecture for 3D Locomotion of a snake-like robot A CPG-based Control Architecture for 3D Locomotion of a snake-like robot
In this paper, a biologically inspired control architecture for a snake-like robot is proposed to achieve 3D locomotion and realize continuously free gait transition. Based on a novel central pattern generator(CPG) model, which is achieved from the perspective of network synchronization, the control architecture integrates three functional parts. First, following the convergence behavior of the...
متن کاملa new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
15 صفحه اولBiologically-Inspired Locomotion Controller for a Quadruped Walking Robot: Analog IC Implementation of a CPG-Based Controller
The present paper proposes analog integrated circuit (IC) implementation of a biologically inspired controller in quadruped robot locomotion. Our controller is based on the central pattern generator (CPG), which is known as the biological neural network that generates fundamental rhythmic movements in locomotion of animals. Many CPG-based controllers for robot locomotion have been proposed, but...
متن کاملRobot and locomotion-controller design optimization for a reconfigurable quadruped
We present an automated approach to robot and locomotion-controller design optimization, using reinforcement learning methods that have been successfully demonstrated to teach a real prototype quadruped various walking gaits. The same machine learning methods are used here for a different purpose: to optimize robot and locomotion-controller design. Optimization can be used before or after build...
متن کاملCPG Implementations for Robot Locomotion: Analysis and Design
The ability to efficiently move in a complex environment is a key property of animals. It is central to their survival, i.e. to avoid predators, to look for food, and to find mates for reproduction (Ijspeert, 2008). Nature has found different solutions for the problem of legged locomotion. For example, the vertebrate animals have a spinal column and one or two pairs of limbs that are used for w...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2014
ISSN: 1729-8814,1729-8814
DOI: 10.5772/58564