Title :
The Design of CPG Control Module of the Bionic Mechanical Crab
Author :
He, Jin ; Lu, Chunfeng ; Yin, Shitang
Author_Institution :
Dept. Phys. & Electron. Eng., YunNan Nat. Univ., Kunming
Abstract :
Based on the anatomy fact that the rhythmic motor pattern is controlled by CPG function modular, the conception of CPG control in multi-legged gait is presented. A CPG model for machine crab´s octopod gait control is made by adopting the neuron oscillator, and some gaits are generated using this model by simulation. Simulation result proved that the constructed CPG model can be used as gait generation and control module of crab-liked biologically inspired robot.
Keywords :
biocybernetics; biomimetics; gait analysis; legged locomotion; motion control; bionic mechanical crab; central pattern generator; crab-liked biologically inspired robot; multilegged gait; neuron oscillator; octopod gait control; rhythmic motor pattern; Animals; Biological system modeling; Genetic algorithms; Intelligent robots; Job shop scheduling; Legged locomotion; Muscles; Rhythm; Robot kinematics; Spinal cord; CPG control module; bionics Mechanical crab; gait; genetic algorithms;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340167
