Steering motion control of a snake robot via a biomimetic approach

Wenjuan OUYANG; Wenyu LIANG; Chenzui LI; Hui ZHENG; Qinyuan REN; Ping LI

doi:10.1631/FITEE.1800554

Your Location：

Home >

Browse articles >

Steering motion control of a snake robot via a biomimetic approach

Special Issue on Complex System and Intelligent Control | Updated：2022-05-19

- Steering motion control of a snake robot via a biomimetic approach
- 一种基于仿生的机器蛇转向控制方法
- Frontiers of Information Technology & Electronic Engineering Vol. 20, Issue 1, Pages: 32-44(2019)
- Affiliations：
  
  State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027, China
  Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576, Singapore
  Zhejiang University of Science and Technology, Hangzhou 310023, China
- Author bio：
  
  Qinyuan REN, E-mail: latepat@gmail.com
- Funds：
- DOI：10.1631/FITEE.1800554
  CLC： TP242
- Received：11 September 2018，
  
  Revised：2019-;1-;8，
  
  Published：2019-01
- Accepted：
Scan QR Code
Wenjuan OUYANG, Wenyu LIANG, Chenzui LI, et al. Steering motion control of a snake robot via a biomimetic approach[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 32-44.
DOI：

Wenjuan OUYANG, Wenyu LIANG, Chenzui LI, et al. Steering motion control of a snake robot via a biomimetic approach[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 32-44. DOI： 10.1631/FITEE.1800554.

摘要

提出一种基于仿生的机器蛇转向控制方法。分级控制方法灵感来自于脊椎动物生物运动系统。构建人工中枢模式发生器（CPG），驱动机器蛇产生可调蛇形运动。该发生器将协调所需的关节角度命令输出到每个较低级的执行控制器，而蛇形运动由更高级的运动控制器调制控制。设计结合小脑模型控制器（CMAC）和比例微分控制器（PD）控制机器蛇转向。得益于小脑模型控制器强大学习能力，所提方法可让机器蛇在转向控制中具有很强跟踪性和抗干扰性。PD控制器可加快运动控制器收敛速度。最后，仿真和实验验证了所提方法良好跟踪性和环境适应性。

Abstract

We propose a biomimetic approach for steering motion control of a snake robot. Inspired by a vertebrate biological motor system paradigm

a hierarchical control scheme is adopted. In the control scheme

an artificial central pattern generator (CPG) is employed to generate serpentine locomotion in the robot. This generator outputs the coordinated desired joint angle commands to each lower-level effector controller

while the locomotion can be controlled through CPG modulation by a higher-level motion controller. The motion controller consists of a cerebellar model articulation controller (CMAC) and a proportional-derivative (PD) controller. Because of the fast learning ability of the CMAC

the proposed motion controller can drive the robot to track the desired orientation and adapt to unexpected perturbations. The PD controller is employed to expedite the convergence speed of the motion controller. Finally

both numerical studies and experiments proved that the proposed approach can help the snake robot achieve good tracking performance and adaptability in a varying environment.

关键词

Keywords

references

JS Albus . . A new approach to manipulator control: the cerebellar model articulation controller (CMAC) . . J Dynam Syst Meas Contr , , 1975 . . 97 ( ( 3 ): ): 220 - - 227 . . DOI: 10.1115/1.3426922 http://doi.org/10.1115/1.3426922 . .

A Crespi , , , AJ Ijspeert . . Online optimization of swimming and crawling in an amphibious snake robot . . IEEE Trans Robot , , 2008 . . 24 ( ( 1 ): ): 75 - - 87 . . DOI: 10.1109/TRO.2008.915426 http://doi.org/10.1109/TRO.2008.915426 . .

H Date , , , Y Hoshi , , , M Sampei . . Locomotion control of a snake-like robot based on dynamic manipulability . . Proc IEEE/RSJ Int Conf on Intelligent Robots and Systems , , 2000 . . p.2236 - - 2241 . . DOI: 10.1109/IROS.2000.895301 http://doi.org/10.1109/IROS.2000.895301 . .

J Gray . . The mechanism of locomotion in snakes . . J Exp Biol , , 1946 . . 23 ( ( 2 ): ): 101 - - 120 . . . .

X Guo , , , SG Ma , , , B Li , , , 等 . . A novel serpentine gait generation method for snake-like robots based on geometry mechanics . . IEEE/ASME Trans Mech , , 2018 . . 23 ( ( 3 ): ): 1249 DOI: 10.1109/TMECH.2018.2809786 http://doi.org/10.1109/TMECH.2018.2809786 . .

S Hirose . . Biologically Inspired Robots:Snake-Like Locomotors and Manipulators , , : : Oxford Oxford University Press , , 1993 . . .

SL Hooper . . Central pattern generators . . Curr Biol , , 2000 . . 10 ( ( 5 ): ): R176 - - R179 . . . .

K Inoue , , , SG Ma , , , CH Jin . . Neural oscillator networkbased controller for meandering locomotion of snakelike robots . . Proc IEEE Int Conf on Robotics and Automation , , 2004 . . p.5064 - - 5069 . . DOI: 10.1109/ROBOT.2004.1302520 http://doi.org/10.1109/ROBOT.2004.1302520 . .

M Ito . . Mechanisms of motor learning in the cerebellum . . Brain Res , , 2000 . . 886 ( ( 1-2 ): ): 237 - - 245 . . . .

P Liljeback , , , IU Haugstuen , , , KY Pettersen . . Path following control of planar snake robots using a cascaded approach . . IEEE Trans Contr Syst Technol , , 2012 . . 20 ( ( 1 ): ): 111 - - 126 . . DOI: 10.1109/TCST.2011.2107516 http://doi.org/10.1109/TCST.2011.2107516 . .

E Marder , , , D Bucher . . Central pattern generators and the control of rhythmic movements . . Curr Biol , , 2001 . . 11 ( ( 23 ): ): R986 - - R996 . . DOI: 10.1016/S0960-9822(01)00581-4 http://doi.org/10.1016/S0960-9822(01)00581-4 . .

F Mattia , , , A Paolo , , , F Luigi . . Bio-inspired Emergent Control of Locomotion Systems . . World Scientific Publishing, Singapore. , , 2004 . . .

J Mukherjee , , , S Mukherjee , , , IN Kar . . Sliding mode control of planar snake robot with uncertainty using virtual holonomic constraints . . IEEE Robot Autom Lett , , 2017 . . 2 ( ( 2 ): ): 1077 - - 1084 . . DOI: 10.1109/LRA.2017.2657892 http://doi.org/10.1109/LRA.2017.2657892 . .

H Ohno , , , S Hirose . . Design of slim slime robot and its gait of locomotion . . Proc IEEE/RSJ Int Conf on Intelligent Robots and Systems , , 2001 . . p.707 - - 715 . . DOI: 10.1109/IROS.2001.976252 http://doi.org/10.1109/IROS.2001.976252 . .

T Poggio , , , F Girosi . . Networks for approximation and learning . . Proc IEEE , , 1990 . . 78 ( ( 9 ): ): 1481 - - 1497 . . DOI: 10.1109/5.58326 http://doi.org/10.1109/5.58326 . .

JK Ryu , , , NY Chong , , , BJ You , , , 等 . . Locomotion of snake-like robots using adaptive neural oscillators . . Intell Ser Robot , , 2010 . . 3 ( ( 1 ): ): 1 DOI: 10.1007/s11370-009-0049-4 http://doi.org/10.1007/s11370-009-0049-4 . .

M Tanaka , , , F Matsuno . . Modeling and control of head raising snake robots by using kinematic redundancy . . J Intell Robot Syst , , 2014 . . 75 ( ( 1 ): ): 53 - - 69 . . DOI: 10.1007/s10846-013-9866-y http://doi.org/10.1007/s10846-013-9866-y . .

XD Wu , , , SG Ma . . CPG-based control of serpentine locomotion of a snake-like robot . . Mechatronics , , 2010 . . 20 ( ( 2 ): ): 326 - - 334 . . DOI: 10.1016/j.mechatronics.2010.01.006 http://doi.org/10.1016/j.mechatronics.2010.01.006 . .

JZ Yu , , , M Tan , , , J Chen , , , 等 . . A survey on CPGinspired control models and system implementation . . IEEE Trans Neur Networks Learn Syst , , 2014 . . 25 ( ( 3 ): ): 441 - - 456 . . DOI: 10.1109/TNNLS.2013.2280596 http://doi.org/10.1109/TNNLS.2013.2280596 . .

AF Zhang , , , SG Ma , , , B Li , , , 等 . . Adaptive controller design for underwater snake robot with unmatched uncertainties . . Sci China Inform Sci , , 2016 . . 59 ( ( 5 ): ): 052205 DOI: 10.1007/s11432-015-5421-8 http://doi.org/10.1007/s11432-015-5421-8 . .

Views

Downloads

CSCD

Alert me when the article has been cited

Submit

Tools

Publicity Resources

No data

Related Author

No data

Related Institution

No data

Chat

Address：Zhejiang University Press, 148 Tianmushan Road, Hangzhou, China Postal code：310028
Tel：+86-571-88273162 Email：fitee@zju.edu.cn
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰