Research On Bionic Control Of CPG

Bionic control is of great significance for the progress of robot technology. In recent years, bionic control based on central pattern generator (CPG) has become one of the hot spots of the field of bionic control. CPG can produce movement of spontaneous steady rhythm which is susceptible to high-level orders regulating, has strong coupling, multi-mode, strong adaptability and simple structure to the lack of high-level external control signal and the feedback, it can reduce the workload of the control system, saving hours of work. Currently, the research of the bionic control of CPG in the international arena is still at the preliminary stage. The control systems can not well simulate biological characteristics nor give full play to the advantage of this control method, particularly in the aspect of simplified structure, movement of Multi-mode and to follow high-level mechanism.Based on the three local neurons network model of CPG adopted the theory of vibration, we established a new control system model of CPG. Aimed at the control of a single leg of two joints of the robot, we built a single legged bionic control system of two joints which contains CPG as a primary part.First, We built the models of each neuron in the control system simulating the response theory of neurons in the biological nervous system according to the three local neurons network model of CPG adopted the theory of vibration. The neuron models achieve the rhythmic motion, feedback to the conduction and the object-driven respectively. Then validated the control characteristics on the simulation platform. Simulation results show that the model can simulate the biological characteristics of neurons preferably.Secondly, the paper simulated biological nerve-muscle control system to establish a single joint multi-loop bionic control system. We established the producing of the movement mode, the driving of the objects, the feeding back of the information by building the planner, the forward path and the feedback path, and established the interaction of high-level campaign to achieve control and feedback regulation with this three-part connection.Then, with the simulation of biological neural integration, this paper built a coupling control system of a single robot leg of two joints based on the single joint control system. The system can realize coupling control of two joints using only one CPG, with the adoption of high-level multi-regulating control system.Finally, we conducted a single joint control, a coupling control of two joints and simulation of reflection with the application of this system. Experimental results show that this system can accomplish double coupling joints rhythm movements simulating biological characteristics, and can achieve movements changing, high-level regulation of the movements and reflection simulation with a relatively simple structure.