ICRA 2011 Paper Abstract

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Paper TuA107.4

Ding, Rui (Institute of Automation, Chinese Academy of Sciences), Yu, Junzhi (Institute of Automation, Chinese Academy of Sciences), Yang, Qinghai (Institute of Automation, Chinese Academy of Sciences,Beijing, Ch), Tan, Min (Institute of Automation,Chinese Academy of Sciences), Zhang, Jianwei (University of Hamburg)

CPG-Based Behavior Design and Implementation for a Biomimetic Amphibious Robot

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots I" (TuA107), Tuesday, May 10, 2011, 09:05−09:20, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 21, 2019

Keywords Biomimetics, Behaviour-Based Systems, Biologically-Inspired Robots

Abstract

This paper presents the behavior design and multimodal locomotion control of a biomimetic amphibious robot based on a bio-inspired central pattern generator. A set of four key parameters are introduced serving as external stimuli to shape the CPG (central pattern generator) rhythmic activities where necessary speed and orientation modulation as well as 3-D locomotion can be obtained. In terms of the built parameter set, a library of movement primitives based on finite state machine is established to facilitate rapid and smooth gait transitions. To enhance adaptive behaviors, well-integrated sensory feedback by means of two liquid-level detectors enables the gait transition between ground and water autonomously. Simulations and experiments are also conducted to demonstrate the feasibility of a behavior-based control architecture governed by CPGs.

 

 

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