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《Journal of Central South University(Science and Technology)》 2016-12
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Gait generation method of crablike robot walking on complex terrain based on CPG

WANG Gang;HAN Jinhua;HAN Shikai;CHEN Xi;YE Xiufen;College of Shipbuilding Engineering, Harbin Engineering University;Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University;College of Automation, Harbin Engineering University;College of Mechanical and Electrical Engineering, Heilongjiang Institute of Technology;  
In order to improve the environmental adaptability of crablike robot in complex terrain, an adaptive gait generation method for complex terrain was proposed based on biological neural reflex mechanism. Firstly, a CPG network model of the crablike robot was built by mutual inhibition neural oscillator. Secondly, the rhythm signals generated by CPG model were mapped to walking leg trajectory by neural network. Then, the reflection mechanism triggered by force sensor was added to CPG model, to realize the adaptive gait generation for complex terrain. Finally, the motion control experiments of crablike robot in complex terrain were carried out to verify the effectiveness of adaptive gait generation method for complex terrain.
【Key Words】: crablike robot central pattern generator(CPG) gait generation complex terrain
【Fund】: 国家自然科学基金青年基金资助项目(51409058);; 黑龙江省自然科学基金资助项目(E2016017)~~
【CateGory Index】: TP242
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