J4 ›› 2014, Vol. 11 ›› Issue (3): 389-399.doi: 10.1016/S1672-6529(14)60052-4
An Approach for Adaptive Limbless Locomotion Using a CPG-Based Reflex Mechanism
Guoyuan Li1, Houxiang Zhang1, Jianwei Zhang2, Hans Petter Hildre1
- 1. Faculty of Maritime Technology and Operations, Aalesund University College, Aalesund, 6009, Norway
2. Department of Computer Science, University of Hamburg, Hamburg, 22527 Germany
An Approach for Adaptive Limbless Locomotion Using a CPG-Based Reflex Mechanism
Guoyuan Li1, Houxiang Zhang1, Jianwei Zhang2, Hans Petter Hildre1
- 1. Faculty of Maritime Technology and Operations, Aalesund University College, Aalesund, 6009, Norway
2. Department of Computer Science, University of Hamburg, Hamburg, 22527 Germany
摘要：
Animals’ free movement in natural environments has attracted many researchers to explore control methods for bio-inspired robots. This paper presents a novel reflex mechanism based on a Central Pattern Generator (CPG) for adaptive locomotion of limbless robots. First, inspired by the concept of reflex arc, the reflex mechanism is designed on a connectionist CPG model. Since the CPG model inspired by the spinal cord of lampreys is developed at the neuron level, it provides a possible natural solution for sensory reflex integration. Therefore, sensory neurons that bridge the external stimuli and the CPG model, together with the concept of reflex arc, are utilized for designing the sensory reflex mechanism. Then, a border reflex and a body reflex are further developed and applied on the ends and the middle part of a limbless robot, respectively. Finally, a ball hitting scenario and a corridor passing scenario are designed to verify the proposed method. Results of simulations and on-site ex-periments show the feasibility and effectiveness of the reflex mechanism in realizing fast response and adaptive limbless lo-comotion.