CPG control system of wall-climbing robot imitating flexible structure of feet of gecko

Abstract

The invention belongs to the field of four-footed gecko-imitating robots and particularly relates to CPG neural network control used for gecko-imitating four-footed coordinated motion and toe detachment and attachment control. A CPG control system of a wall-climbing robot imitating the flexible structure of the feet of a gecko comprises a higher central nervous module, a CPG neutral network module, a signal processing module, an execution module and a sensor module. Because a CPG network is adopted for imitating a motion control system of the animal, particularly imitating a rhythmic motion control system of the animal, a CPG multi-foot coordinated motion control system is built, the principle of a coordinated motion control algorithm with the higher nerve cells and the CPG as the core is obtained, and coordination is improved.

Description

technical field [0001] The invention belongs to the field of quadruped gecko-imitating robots, in particular to CPG neural network control for quadruped coordinated motion and toe desorption and adsorption control of gecko imitation. technical background [0002] The application of CPG control mechanism of animals in robot motion control is an exploratory research of biology, neurophysiology, computational neurology, bionics, robotics, etc., which can provide new theories and methods for robot motion control and improve The robot's motion performance and environmental adaptability, and can find solutions to some difficult problems such as multi-legged robot motion coordination. At the same time, through the study of bionic robots, we can also understand the control mechanism of animal movement and uncover the inner connection of nerve-movement-perception in animals. [0003] The CPG control method simulates the nerve-muscle-skeletal movement system of the gecko, and draws l...

AI Technical Summary

Problems solved by technology

It is generally believed that the gecko's paws are turned out and adducted are "all or nothing", so when using the steering gear to directly control the gecko's paws, problems such as incomplete desorption or too small adsorption compression force will be encountered.

[0007] In addition, most of the four-legged robots are now controlled by single-chip microcomputer technology, which has poor coordination, slow program running speed, inflexible algorithm, troublesome modification and maintenance, low control accuracy, poor program portability, and cannot process the collected signals in time.

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