NDLI: A hierarchical connectionist CPG controller for controlling the snake-like robot's 3-dimensional gaits

Content Provider	IEEE Xplore Digital Library
Author	Guizhi Yang Shugen Ma Bin Li Minghui Wang
Copyright Year	2012
Description	Author affiliation: Department of Robotics, Ritsumeikan University, Shigaken 525-8577, Japan (Shugen Ma) \|\| State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, 110016, China (Guizhi Yang; Bin Li; Minghui Wang)
Abstract	Connectionist Central Pattern Generator models (CCPG) are helpful to understand how the CPG neural mechanism functions, and have relatively small complexity which makes them suitable for controlling snake-like robots. However, there are few CCPG models are constructed to generate the snake-like robot's three-dimensional gaits, which are important for adapation, and their gaits generation ability is also very inadequate. According to the CPG mechanism, a hierarchical CCPG model (HCCPG) with small complexity is proposed to implement the three-dimensional gaits better. The HCCPG has a two-layers structure, namely the basic rhythmic signal generation layer and the output signal modulation layer. The HCCPG can generate three-dimensional gaits well and is extendable. Based on the HCCPG, a three-dimensional gait control method is proposed. The simulations and experiments validate this method.
Starting Page	822
Ending Page	827
File Size	3369955
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385578
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Legged locomotion Complexity theory Neurons Rhythm Robot sensing systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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