摘要
Thispaperpresentsacentralpatterngenerator（CPG）andvestibularreflexcombinedcontrolstrategyforaquadrupedrobot.Anoscillatornetworkandaknee-to-hipmappingfunctionarepresentedtorealizetherhythmicmotionforthequadrupedrobot.Atwo-phaseparametertuningmethodisdesignedtoadjusttheparametersofoscillatornetwork.First,basedonthenumericalsimulation,theinfluencesoftheparametersontheoutputsignalsareanalyzed,thenthegeneticalgorithm（GA）isusedtoevolvethephaserelationshipsoftheoscillatorstorealizethebasicanimal-likewalkingpattern.Moreover,theanimal＇svestibularreflexmechanismismimickedtorealizetheadaptivewalkingofthequadrupedrobotonaslopeterrain.Coupledwiththesensoryfeedbackinformation,therobotcanwalkupanddowntheslopesmoothly.Thepresentedbio-inspiredcontrolmethodisvalidatedthroughsimulationsandexperimentswithAIBO.UnderthecontrolofthepresentedCPGandvestibularreflexcombinedcontrolmethod,AIBOcancopewithslipping,fallingdownandwalkonaslopesuccessfully,whichdemonstratestheeffectivenessoftheproposedwalkingcontrolmethod.
出版日期
2013年03月13日（中国期刊网平台首次上网日期，不代表论文的发表时间）
