Full Text:   <461>

Summary:  <144>

CLC number: TP242

On-line Access: 2019-01-30

Received: 2018-09-11

Revision Accepted: 2018-11-26

Crosschecked: 2019-01-08

Cited: 0

Clicked: 1084

Citations:  Bibtex RefMan EndNote GB/T7714


Qinyuan Ren


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Frontiers of Information Technology & Electronic Engineering  2019 Vol.20 No.1 P.32-44


Steering motion control of a snake robot via a biomimetic approach

Author(s):  Wenjuan Ouyang, Wenyu Liang, Chenzui Li, Hui Zheng, Qinyuan Ren, Ping Li

Affiliation(s):  State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   latepat@gmail.com

Key Words:  Snake robot, Central pattern generator, Cerebellar model articulation controller

Wenjuan Ouyang, Wenyu Liang, Chenzui Li, Hui Zheng, Qinyuan Ren, Ping Li. Steering motion control of a snake robot via a biomimetic approach[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(1): 32-44.

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journal="Frontiers of Information Technology & Electronic Engineering",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Steering motion control of a snake robot via a biomimetic approach
%A Wenjuan Ouyang
%A Wenyu Liang
%A Chenzui Li
%A Hui Zheng
%A Qinyuan Ren
%A Ping Li
%J Frontiers of Information Technology & Electronic Engineering
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%N 1
%P 32-44
%@ 2095-9184
%D 2019
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1800554

T1 - Steering motion control of a snake robot via a biomimetic approach
A1 - Wenjuan Ouyang
A1 - Wenyu Liang
A1 - Chenzui Li
A1 - Hui Zheng
A1 - Qinyuan Ren
A1 - Ping Li
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 20
IS - 1
SP - 32
EP - 44
%@ 2095-9184
Y1 - 2019
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1800554

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.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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