CAJ | 학술논문

针对蛇形机器人采用的循环抑制CPG模型，为解决CPG控制模型中参数整定效率低、不稳定的问题，阐述基于CPG模型的蛇形搜救机器人控制系统总体方案的设计，提出一种基于遗传算法的CPG控制模型参数优化方法，实现链式CPG网络的节律输出。仿真实现蛇形搜救机器人各关节控制信号的有效输出，仿真结果表明，该方法具有高效、准确、稳定等优点，可有效应用于蛇形搜救机器人的步态控制。
침대사형궤기인채용적순배억제CPG모형，위해결CPG공제모형중삼수정정효솔저、불은정적문제，천술기우CPG모형적사형수구궤기인공제계통총체방안적설계，제출일충기우유전산법적CPG공제모형삼수우화방법，실현련식CPG망락적절률수출。방진실현사형수구궤기인각관절공제신호적유효수출，방진결과표명，해방법구유고효、준학、은정등우점，가유효응용우사형수구궤기인적보태공제。
For the circulation inhibition of CPG model used in the snake‐like robot ,to solve the problem that tuning efficiency of GPC control parameters is low and unstable ,the overall design scheme of control system of snake‐like robot based on CPG model was described firstly ,then a method was proposed to optimize parameters of the CPG mode based on genetic algorithm ,so that the rhythmic output of the GPG network chain was implemented .Finally ,the effecitive output of each joint control signal of snake‐like robot was implemented by simulation .The experimental results show that the method has the advantages of high effi‐ciency ,accuracy and stability ,which can be effectively applied to the gait control of snake‐like robot .