Hierarchical Control of Limbless Locomotion Using a Bio-inspired CPG Model ; Hierarchische Steuerung von extremitätenloser Fortbewegung mit einem biologisch inspirierten CPG Modell
Titel:
Hierarchical Control of Limbless Locomotion Using a Bio-inspired CPG Model ; Hierarchische Steuerung von extremitätenloser Fortbewegung mit einem biologisch inspirierten CPG Modell
Beteiligte:
Li, Guoyuan
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Erschienen:
Staats- und Universitätsbibliothek Hamburg Carl von Ossietzky, 2013-01-01
Anmerkungen:
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Beschreibung:
Limbless robots have the potential ability to perform various highly efficient movements in different environments, taking advantage of the features of limbless locomotion, such as a low center of gravity, a large contact area and a distributed mass. This thesis deals with the locomotion control of limbless robots, concentrating specifically on the study of a hierarchical control architecture as steps toward developing limbless robots capable of 3D locomotion, fast reflex responses and sophisticated responses to environmental stimuli. First, an overview of limbless robots is presented. Various limbless robots found in the literature are investigated. The survey not only introduces some potential applications for limbless robots, but also establishes a classification of limbless locomotion according to the limbless robots\\\' configurations and auxiliary equipment. Moreover, different approaches to autonomously generate motion patterns for limbless robots are discussed. One type of control approaches based on Central Pattern Generators (CPGs) is emphasized, since it is ideally suited to being applied to a hierarchical control architecture. Then, a bio-inspired CPG model is proposed. The key problem for developing such a hierarchical control architecture is how to design a CPG based controller that can not only generate various gaits, but also provide a solution for realizing reflex mechanisms as well as integrating sensory feedback. To this end, a CPG model inspired by the neuronal circuit diagram in the spinal cord of swimming lampreys is designed. A set of interneurons described with sigmoid functions and leaky integrators is incorporated into the design of the neural oscillator for rhythmic signal generation. Furthermore, according to the connection between neural oscillators, a chained type and a cyclic type of CPG circuits are developed. The chained type CPG circuit is used for generating traveling waves between oscillators, while the cyclic type CPG circuit is used for producing synchronization and ...