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Chaotic CPG based locomotion control for modular self-reconfigurable robot

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Abstract

The most important feature of Modular Self-reconfigurable Robot (MSRR) is the adaption to complex environments and changeable tasks. A critical difficulty is that the operator should regulate a large number of control parameters of modules. In this paper, a novel locomotion control model based on chaotic Central Pattern Generator (CPG) is proposed. The chaotic CPG could produce various rhythm signals or chaotic signal only by changing one parameter. Utilizing this characteristic, a unified control model capable of switching variable locomotion patterns or generating chaotic motion for modular self-reconfigurable robot is presented. This model makes MSRR exhibit environmental adaptability. The efficiency of the control model is verified through simulation and experiment of UBot MSRR platform.

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Authors and Affiliations

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, China

    Jizhuang Fan, Yu Zhang, Hongzhe Jin, Xiaolu Wang, Dongyang Bie, Jie Zhao & Yanhe Zhu

Authors
  1. Jizhuang Fan
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  2. Yu Zhang
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  3. Hongzhe Jin
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  4. Xiaolu Wang
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  5. Dongyang Bie
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  6. Jie Zhao
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  7. Yanhe Zhu
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Correspondence to Yu Zhang.

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Fan, J., Zhang, Y., Jin, H. et al. Chaotic CPG based locomotion control for modular self-reconfigurable robot. J Bionic Eng 13, 30–38 (2016). https://doi.org/10.1016/S1672-6529(14)60157-8

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  • DOI: https://doi.org/10.1016/S1672-6529(14)60157-8

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