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Robot motion control system and method based on learnable central pattern generators

A pattern generator, robot motion technology, applied in motor vehicles, transportation and packaging, etc., can solve the problem of not being able to learn external control signals, restrictions, etc.

Active Publication Date: 2018-10-16
SHANDONG FIRST MEDICAL UNIV & SHANDONG ACADEMY OF MEDICAL SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing central pattern generator cannot learn external control signals, which limits the application of the central pattern generator pattern control method

Method used

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  • Robot motion control system and method based on learnable central pattern generators
  • Robot motion control system and method based on learnable central pattern generators
  • Robot motion control system and method based on learnable central pattern generators

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Embodiment Construction

[0063] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0064] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0065] The invention designs a new robot motion control method and relates to the field of robot motion control....

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Abstract

The invention discloses a robot motion control system and method based on learnable central pattern generators. The robot motion control system based on the learnable central pattern generators comprises a robot; the robot comprises a left hip joint, a right hip joint, a left knee joint, a right knee joint, a left ankle joint and a right ankle joint; a corresponding steering engine is arranged onthe internal side of each joint; each steering engine is driven by a control signal generated by the corresponding learnable central pattern generator; each learnable central pattern generator performs training by using history motion data of the corresponding joint; after the training is finished, each learnable central pattern generator is arranged on the controller; each learnable central pattern generator outputs a corresponding control signal according to an input signal; the controller transmits the control signal output by each learnable central pattern generator to the steering engineso as to drive the steering engine of each joint; and therefore, the motion of the robot is controlled.

Description

technical field [0001] The invention relates to a robot motion control system and method based on a learnable central pattern generator. Background technique [0002] Robot technology is an interdisciplinary research field integrating biomechanics, mechanics, mechanical mechanics, materials science, artificial intelligence and mathematical analysis. It is widely used in industrial production and other fields, and the motion control method of robots is a research hotspot. . Movement is one of the basic functions of animals to maintain individual survival, one of which is rhythmic movement. The neural circuits that generate rhythmic movements are called central pattern generators, which are neural networks that generate rhythmic pattern outputs without sensor feedback. The central pattern generator generally has two functions, one is to generate basic rhythm signals, and the other is to form and coordinate movement patterns on the basis of multiple motor neurons. [0003] T...

Claims

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Application Information

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IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 陆强李文锋马振鹏张兆臣
Owner SHANDONG FIRST MEDICAL UNIV & SHANDONG ACADEMY OF MEDICAL SCI
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