Research On Motion Control Of Snake-like Robot Based On CPG Model

Snake-like robot is a kind of bionic robots developed from imitating natural biological snake movement.With the characteristics of diverse motion gaits,environmental adaptability,and so on,it is a bionic robot of great potential for development.The designing idea,research method and the achievement of the thesis are as follows:Firstly,The paper studies the principle of snake-like robot two-dimensional plane motion and establishes dynamic and kinematic model based on Newton-Euler mechanics and spatial coordinate system method,the model is analyzing using the method of mathematical calculation,derives the position equation of snake-like robot motion process.According to the principles of biological snake movement,the Serpenoid curve is fitted using the method of approximation of the discrete data.The significance of each parameter of the continous and discrete Serpenoid curve is studied,as well as the setting of the value.Then,CPG network model is built to fit for the control of the snake-like robot through the simulation analysis of CPG model composed of different number of neurons.The range of each parameter is obtained through simulation analysis of the impact of each parameter in CPG model on output curve using MATLAB.The optimal parameter of CPG model is obtained through optimum calculation of each parameter using genetic algorithm.And further more,the overall architecture of the control system of the snake-like robot is designed,including hardware and software structure.The hardware uses the idea of main branch controller,separating gesture calculation from actuator drive physically.The main controller and branch controller communicate through ICC bus.The software system adopts the closed loop control system,which ensures that the program runs smoothly and efficiently.Finally,the designed control system is debugged.The function and stability of the control system are tested,including manual control and autonomous control.The experiment shows that the snake-like robot can perform various actions and gait steadily,which verifies the effectiveness of the optimal parameters of the CPG model.