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Based on the behavior of a biological mechanism robot selection and Motion Control Method

Author: FuJiang
Tutor: ChenQingWei
School: Nanjing University of Technology and Engineering
Course: Control Theory and Control Engineering
Keywords: four-legged robot basal ganglia central patter generator (CPG) behavior selection movement control image processing
CLC: TP242
Type: Master's thesis
Year: 2012
Downloads: 105
Quote: 0
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Abstract


Robots usually perform tasks in dynamic or unstable environments. Vertebrates have a good adaptability to dynamic environments. Therefore, a new idea to realize the robot control through biological mechanisms is possible. With the development of biology and anatomy, how to realize the robot control by establishing mathematical models based on biological principles is of great research significance in engineering science.This paper researches into the gait decision and realization technology of the four-legged robot based on biological mechanisms. Basal ganglia in the brain select behavior according to the received stimulus from the outside world; central pattern generator in the spine controls the rhythmic movement of the body; and they cooperate with each other to help animals finish complicated movements. The two biological mechanisms can be used respectively for the behavior decision and the movement control of the four-legged robots, thereby improving the robot adaptability to the environment.With the four-legged animal’s hunting as model, this paper uses the Bioloid robot kit of the ROBOTIS company to make a four-legged robot Puppy-Ⅰand realizes the process of the four-legged robot to find a target, identify a target, decide the gaits, control the movement. Based on the image processing technology, Puppy-Ⅰrealizes the target finding and identifying; based on the basal ganglia model, Puppy-Ⅰachieves the gait decision; based on the central pattern generator model, the robot achieves the four gaits, walk, pace, trot, and gallop.The robot Puppy-Ⅰcan finally realize walking, pacing, trotting, and galloping. An orange ping-pong ball is used as a target for search. The robot can judge the change of the target location, thereby realizing the gait decision and perform a specific gait according to the result of gait decision. The experimental results of the robot have verified the effectiveness of the proposed method.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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