一种基于仿生的机器蛇转向控制方法

欧阳文娟; 梁文宇; 李陈最; 郑慧; 任沁源; 李平

doi:10.1631/FITEE.1800554

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一种基于仿生的机器蛇转向控制方法

复杂系统与智能控制专辑 | Updated：2022-05-19

- 一种基于仿生的机器蛇转向控制方法
- Steering motion control of a snake robot via a biomimetic approach
- 信息与电子工程前沿（英文） 2019年20卷第1期页码：32-44
- 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：
  
  Project supported by the Zhejiang Provincial Natural Science Foundation of China (No. LQ16F030002)
- DOI：10.1631/FITEE.1800554
  中图分类号： TP242
- 收稿：2018-09-11，
  
  修回：2019-;1-;8，
  
  纸质出版：2019-01
- Accepted：
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欧阳文娟, 梁文宇, 李陈最, 等. 一种基于仿生的机器蛇转向控制方法[J]. 信息与电子工程前沿（英文）, 2019,20(1):32-44.

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.
欧阳文娟, 梁文宇, 李陈最, 等. 一种基于仿生的机器蛇转向控制方法[J]. 信息与电子工程前沿（英文）, 2019,20(1):32-44. DOI： 10.1631/FITEE.1800554.

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.

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references

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