CN114260885A - Bionic CPG motion regulation and control system and method of snake-like robot - Google Patents
Bionic CPG motion regulation and control system and method of snake-like robot Download PDFInfo
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Abstract
The invention relates to a bionic CPG motion control system of a snake-shaped robot and a method thereof, wherein the system comprises a plurality of DHCO units which are sequentially coupled and connected, the phase difference among the DHCO units can be adjusted, the DHCO units are respectively connected with two adjacent steering engines which are vertically arranged, and the DHCO units are used for outputting synchronous and anti-synchronous stable rhythm signals so as to control the two connected steering engines to generate yaw motion in the horizontal direction or pitch motion in the vertical direction. Correspondingly regulating and controlling the fluctuation movement direction of the snake-shaped robot by changing the phase difference between the DHCO units; by changing the CPG parameters, the snake-shaped robot is correspondingly regulated and controlled to realize different motion waveforms. Compared with the prior art, the network structure of the invention is simple and is easy to implement in engineering; the output mode of the neuron of the constructed DHCO unit is kept unchanged within a certain parameter range, and the DHCO unit can be quickly switched to another completely different output mode after crossing a parameter critical value, so that the DHCO unit has good system robustness and parameter adjustability.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a bionic CPG motion regulation and control system and a method thereof for a snake-shaped robot.
Background
With the development of the bionic robot technology, the snake-shaped robot which has multiple degrees of freedom and can pass through in a narrow space is currently in great concern of scientists and engineering. In nature, the biological snake can realize a multi-mode motion mode of a cross-medium environment based on different snake curves, so that the gait planning of the snake-shaped robot under a specific motion environment has the characteristics of multiple degrees of freedom, complex structure, large calculation amount and difficulty in implementation, and the adjustability and the robustness of the motion control of the snake-shaped robot are poor.
Biological studies show that animals have such excellent movement performance, which is achieved by the regulation of the nerve system of CPG (Central Pattern Generator) located in the spinal cord, and the movement patterns common to natural biological snakes include horizontal winding movement, vertical wave movement, and lateral rolling movement. In Engineering, in order to realize the cross-medium multi-mode motion and the regulation of the snake-shaped robot, aiming at the multi-degree-of-freedom snake-shaped robot with a structure of a horizontal and vertical joint pair, Manzor et al propose a CPG neural network control system with a three-layer network structure in Iranian Journal of Science and Technology and Transactions of electric Engineering (article name: Serpentine and latency motion in snake robot using central paper generator with gap transmission) in 2020, realize the horizontal Serpentine motion (continuous) and the vertical wave motion (linear) of the snake-shaped robot, CPG control parameters of a snake-shaped robot lateral rolling motion (side-rolling) and two-step and four-step folding motions (two-step/four-step concentrication motions) are disclosed in a Journal of Intelligent & robotics Systems (article name: Neural effector based CPG for varied real road motion of modulated snake-shaped robot with active joints) in 2019;
in 2017, Qiao et al, in the Journal of International Journal of Advanced robotics (article name: Triple-layered Central Pattern Generator-based controller for 3D coordination control of snake-like robots), disclosed that a three-layer CPG control system including a Rhythm Generator Layer (RGL), a Pattern Generator Layer (PGL), and a Motor Neuron Layer (MNL) was constructed using a phase oscillator model to realize a three-dimensional motion pattern of a snake-like robot. In addition, the Chinese patent 'a snake-imitating search and rescue robot multi-step state control method' (application publication number: CN 105511267A, application publication date: 2016.04.20) relates to the aperiodic chaotic gait design of the CPG controller; the Chinese patent 'a control method of a bionic snake-shaped robot' (application publication No. CN 105945925A, application publication No. 2016.09.21) relates to a control flow of a CPG to the bionic snake-shaped robot, and does not relate to the design of a CPG controller and the regulation and control relation between the motion mode and control parameters of the snake-shaped robot.
Although the above prior art can realize the motion control of the snake-shaped robot, especially the generation and switching of multiple motion modes, the following main disadvantages exist: (1) the proposed CPG neural network system has more layers, high dimension and more involved neurons, which leads to complex calculation and difficult engineering implementation of the whole system; (2) no method for selecting CPG parameters is provided, because a unified dynamic analysis method cannot be provided for the whole CPG neural network system, and only one or more groups of fixed parameter values can be provided based on the specific motion mode of the snake-shaped robot, which results in that the adjustability of the parameters and the robustness of the control system cannot be ensured in the engineering practice.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a bionic CPG motion control system and a method thereof for a snake-shaped robot, which can simplify the network structure, improve the robustness of motion control and ensure the adjustability of control parameters.
The purpose of the invention can be realized by the following technical scheme: the utility model provides a bionic CPG motion control system of snake-shaped robot, includes a plurality of DHCO (Delay Half Center Oscillator) units of coupling connection in proper order, phase difference between a plurality of DHCO units is adjustable, the DHCO unit is connected with two adjacent steering engines that mutually perpendicular placed respectively, the DHCO unit is used for outputting synchronous and anti-synchronous stable rhythm signal to yaw motion or pitching motion takes place on the vertical direction for two steering engines of control connection take place on the horizontal direction.
Further, the DCHO unit includes two neuron models for generating rhythm signals, and a bi-directional time-lag coupling relationship is between the two neuron models.
Furthermore, the DCHO unit further comprises two motor neuron modules, wherein the two motor neuron modules are used for performing excitatory and inhibitory signal actuation processing on synchronous and anti-synchronous rhythm signals, and the motor neuron modules are respectively connected with the two neuron models.
Furthermore, the two motor neuron modules are respectively and correspondingly connected with two adjacent steering engines.
Further, the neuron model is specifically an oscillator model capable of generating a rhythm signal, and a linear time-lag coupling relation or a nonlinear time-lag coupling relation exists between the two oscillator models.
Further, the neuron model is a node model which cannot generate a rhythm signal, and a nonlinear time-lag coupling relation or a linear time-lag coupling relation exists between the two node models.
A bionic CPG movement regulation and control method of a snake-shaped robot comprises the following steps:
s1, constructing a DHCO unit for generating an oscillating rhythm signal, wherein the DHCO unit comprises two neurons which are coupled in a bidirectional time-lag manner;
s2, correspondingly combining and connecting the plurality of DHCO units with the steering engine respectively, and connecting the plurality of DHCO units through one-way time-lag coupling to construct a body structure of the snake-shaped robot;
s3, correspondingly regulating and controlling the fluctuation movement direction of the snake-shaped robot by changing the phase difference between the DHCO units; and the CPG parameters are changed to correspondingly regulate and control the motion waveform of the snake-shaped robot.
Further, the DHCO unit in step S1 is specifically two oscillator models connected by linear skew coupling or nonlinear skew coupling, or two node models connected by nonlinear skew coupling or linear skew coupling.
Further, the step S2 specifically includes the following steps:
s21, arranging and connecting two independent motor neuron modules between two neurons, wherein the two motor neuron modules are respectively connected to two adjacent steering engines, and the two steering engines are vertically arranged to obtain a joint structure of the snake-shaped robot, wherein the two motor neuron modules are used for performing excitatory and inhibitory signal actuation processing on synchronous and anti-synchronous rhythm signals so as to correspondingly output the obtained DHCO signals to the steering engines driven by the joints of the snake-shaped robot;
s22, sequentially coupling and connecting the joint structures, wherein two steering engines at intervals in every two joint structures are arranged in parallel.
Further, the step S3 is specifically to change the phase difference between the DHCO units by changing the coupling time lag parameter between the DHCO units, so as to correspondingly regulate and control the wave motion direction of the snake-like robot, where the wave motion direction includes forward and backward;
the step S3 is to make the DHCO unit output periodic oscillation rhythm signal, completely anti-synchronous oscillation rhythm signal, incompletely synchronous or incompletely anti-synchronous oscillation rhythm signal by changing CPG parameter, so as to correspondingly regulate and control the snake-shaped robot to realize horizontal meandering motion, vertical waving motion or lateral rolling motion.
Compared with the prior art, the invention provides a functional structure unit DHCO aiming at the snake-shaped robot with a plurality of freedom degree characteristics, and utilizes the one-way time-lag coupling connection to construct a bionic CPG motion regulation and control system, the model not only can represent the characteristic curve of the snake-shaped robot, but also can regulate and control the phase difference and CPG parameters between the DHCO units, and realize a plurality of motion modes of horizontal meandering motion, vertical fluctuation motion, lateral rolling motion and the like in the advancing or retreating direction of the snake-shaped robot, and the invention has the advantages of simple network structure, less required neuron number and easy implementation in engineering.
The invention provides a DHCO functional structure unit, the neuron output mode of which is kept unchanged in a certain parameter range, the DHCO functional structure unit has good system robustness, and can be quickly switched to another completely different output mode after a parameter critical value is exceeded, and the DHCO functional structure unit has good parameter adjustability.
Drawings
FIG. 1 is a schematic structural diagram of CPG movement control of the snake-shaped robot in the embodiment;
FIG. 2 is a schematic diagram of the connection between the DHCO unit and the steering engine in the embodiment;
FIG. 3 is a parameter region corresponding to the DHCO periodic rhythm spatio-temporal characteristics of the functional structural unit;
FIGS. 4a to 4d are time history graphs of the periodic rhythm of the DHCO unit in different parameter areas;
FIGS. 5a to 5c are signal output modes of the functional structural unit DHCO in different parameter regions;
fig. 6 shows that the output of the control system CPG is continuously switched from backward to forward fluctuation with varying time lag;
FIG. 7 is a waveform diagram of CPG control signal output during the forward horizontal snaking motion of the snake-shaped robot;
FIG. 8 is a diagram of the CPG control signal output waveform during the backward and horizontal snaking motion of the snake-like robot;
FIG. 9 is a waveform diagram of CPG control signal output when the snake-shaped robot moves in forward vertical wave motion;
FIG. 10 is a diagram of the CPG control signal output waveform when the snake robot moves backward in a vertical wave motion;
FIG. 11 is a waveform diagram of CPG control signal output when the snake-shaped robot rolls forward and sideways;
fig. 12 is a waveform diagram of the output of the CPG control signal when the snake-shaped robot moves backwards and rolls over.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in fig. 1-2, a bionic CPG movement control system of a snake-shaped robot comprises a plurality of DHCO units coupled in sequence, wherein the phase difference between the plurality of DHCO units is adjustable, the DHCO units are respectively connected with two adjacent steering engines which are vertically arranged, and the DHCO units are used for outputting synchronous and anti-synchronous stable rhythm signals so as to control the two connected steering engines to generate yaw movement in the horizontal direction or pitch movement in the vertical direction.
The DCHO unit comprises two neuron models for generating rhythm signals, and a bidirectional time-lag coupling relation is formed between the two neuron models. The DCHO unit further comprises two motor neuron modules, the two motor neuron modules are used for performing excitatory and inhibitory signal actuation processing on synchronous and anti-synchronous rhythm signals, the motor neuron modules are respectively connected with the two neuron models, and the two motor neuron modules are respectively and correspondingly connected with two adjacent steering engines.
In practical application, the neuron model can adopt an oscillator (VDP) model capable of generating a rhythm signal, and a linear time-lag coupling relation or a nonlinear time-lag coupling relation exists between the two oscillator models;
or node models which can not generate rhythm signals can be adopted, and a nonlinear time-lag coupling relation or a linear time-lag coupling relation exists between the two node models.
This embodiment employs a VDP model as a neuron model.
The system is applied to practice to realize a bionic CPG motion regulation and control method of the snake-shaped robot, and the method comprises the following steps:
s1, constructing a DHCO unit for generating an oscillating rhythm signal, wherein the DHCO unit comprises two neurons which are coupled in a bidirectional time-lag manner;
s2, correspond the combination with the steering wheel respectively with a plurality of DHCO units and be connected, will pass through one-way time lag coupling between a plurality of DHCO units and connect, construct the body structure that obtains the snake robot, it is specific:
firstly, two independent motor neuron modules are arranged and connected between two neurons, the two motor neuron modules are respectively connected to two adjacent steering engines, and the two steering engines are vertically arranged to obtain a joint structure of the snake-shaped robot, wherein the two motor neuron modules are used for performing excitatory and inhibitory signal actuation processing on synchronous and anti-synchronous rhythm signals so as to correspondingly output the obtained DHCO signals to the steering engines driven by the joints of the snake-shaped robot;
then, sequentially coupling and connecting a plurality of joint structures, wherein two steering engines at intervals in every two joint structures are arranged in parallel;
s3, correspondingly regulating and controlling the fluctuation movement direction of the snake-shaped robot by changing the phase difference between the DHCO units; through changing the CPG parameter to correspond the motion waveform of regulation and control snake-shaped robot, it is specific:
the phase difference between the DHCO units is changed by changing the coupling time lag parameters between the DHCO units so as to correspondingly regulate and control the fluctuating movement direction of the snake-shaped robot, wherein the fluctuating movement direction comprises advancing and retreating;
by changing the CPG parameters, the DHCO unit outputs periodic oscillation rhythm signals, complete anti-synchronous oscillation rhythm signals, incomplete synchronous or incomplete anti-synchronous oscillation rhythm signals so as to correspondingly regulate and control the snake-shaped robot to realize horizontal snake motion, vertical wave motion or lateral rolling motion.
The embodiment adopts the above technical solution, and mainly includes:
firstly, building a functional structural unit DHCO model. Based on the bionic of the vertebrate motor nervous system, a DHCO functional structure unit model capable of generating oscillation rhythm signals is constructed by utilizing time-lag coupling of a plurality of neurons.
The neurons for constructing the DHCO can be an oscillator model capable of generating a rhythm signal or a node model incapable of generating the rhythm signal, and the neurons generate rhythm output signals through bidirectional time-lag coupling; in the coupling connection mode, the connection function can be linear time-lag coupling or nonlinear time-lag coupling, if the neuron is an oscillator model capable of generating a rhythm signal, the relatively simple linear time-lag coupling can be adopted, and for a node model incapable of generating the rhythm signal, the generation of the rhythm signal can be realized through the nonlinear time-lag coupling.
In this embodiment, a VDP oscillator model capable of generating a periodic rhythm signal is selected, and a corresponding DHCO model is constructed by linear time-lag coupling as follows:
wherein, the parameters alpha >0 and beta >0 are used for controlling the frequency and amplitude of the periodic rhythm signal, epsilon >0 is a nonlinear damping coefficient in a VDP system for regulating the shape of the periodic rhythm signal, when epsilon is smaller, the periodic rhythm is similar to a sine signal, when epsilon is larger, the output has a relaxation oscillation characteristic, and tau >0 is the coupling time lag between the internal neurons of DHCO.
Replacing x with a variable1＝u1,
x2＝u3,
A first order differential equation set that is fully equivalent to the DHCO model described above is obtained as follows:
aiming at the time-lag coupling DHCO functional structure unit model, a parameter area of periodic rhythm output can be obtained by utilizing Hopf bifurcation theoretical analysis and numerical method of time-lag dynamics and the like. Specifically, the method comprises the following steps:
linearizing the nonlinear system near the equilibrium point to obtain a corresponding linear system characteristic equation as follows:
G(λ,τ)＝λ4+2(k-εα)λ3+
(k2+2β-2kεα+ε2α2-e-2λτk2)λ2+2β(k-εα)λ+β2＝0.
under the action of time lag tau >0, if the output signal of the DHCO system is a periodic rhythm, the output signal can be obtained based on Hopf bifurcation, and for this purpose, let lambda be i omega, and obtain by separating a real part and an imaginary part
Thus, the frequency of the periodic rhythm signal satisfies the following equation:
H(ω)＝ω8+2((k-εα)2-2β)ω6+2β2((k-εα)2-2β)ω2+β4+
(6β2-4k2β-4kα(k2-2β)ε+2(3k2-2β)ε2α2-4kε3α3+ε4α4)ω4＝0.
at this time, the coupling skew can generate a critical condition of periodic oscillation, namely:
wherein phi isi∈(0,2π]The following equation is satisfied:
to further illustrate the parameter regions and their rhythm signal characteristics, the fixed system parameters α is 1, β is 1, and ∈ is 0.03, and the time-lag parameters given based on the above theoretical analysis satisfy the condition, giving the parameter regions of periodic rhythms in the (τ, k) plane, as shown in fig. 3. In FIG. 3, SiThe expression i-0, 1, … is that the functional building block of DHCO is at rest-the amplitude death region (AD), and the Syn and Asyn regions represent the periodic rhythm signals that DHCO produces synchronization and desynchronization, respectively. Given any parameter value in each region, the time history of the DHCO periodic rhythm is shown in fig. 4 a-4 d.
Therefore, the periodic rhythm of the neurons in the functional structural unit DHCO has synchronous and desynchronized spatio-temporal characteristics, and is represented as completely synchronous periodic rhythm in certain parameter regions and completely desynchronized periodic rhythm in other regions, and the parameter critical values of the regions can be accurately depicted by dynamics analysis methods such as Hopf bifurcation and the like. In addition, the space-time characteristics are kept unchanged in the determined parameter region, cannot be changed due to time lag change, and show strong robustness, and the regulation and control among the parameter regions can realize the quick switching of synchronization and desynchronization, and show easy regulation and control of parameters.
And secondly, combining and constructing the body structure of the snake-shaped robot. The snake-shaped robot has the characteristic of a multi-joint structure and is used for controlling driving devices such as steering engines and the like of joint movement, the adjacent steering engines are required to be vertically placed, the steering engines are arranged in parallel at intervals, and the steering engines can do yawing movement in the horizontal direction and pitching movement in the vertical direction. In order to respectively control driving devices such as steering engines and the like which are vertically arranged, in the DHCO functional structure unit, the technical scheme is based on an excitability-inhibitability regulation mechanism of a motor neuron in a biological CPG nervous system, the DHCO functional structure unit is provided with a motor neuron module, excitatory (+) and inhibitive (-) signals are actuated on synchronous and desynchronous rhythm signals, the obtained DHCO output signal corresponds to the steering engine driven by a snake-shaped robot joint, as shown in figures 5 a-5 c, the neuron rhythm output in the DHCO functional structure unit has signal modes of Osc after the motor neuron is excited and inhibited1And Osc2When the parameters, especially the time lag parameter, are selected in the fully synchronous region, Osc1The output signal of (a) is a periodic oscillation rhythm signal, and Osc2Because of mutual suppression of completely synchronous signals, signal output of periodic rhythm cannot be generated, and the steering engines which are vertically arranged only adopt yaw motion in the horizontal direction.
Similarly, if the skew parameter is chosen to be within the fully desynchronized region, then Osc1And Osc2Are completely opposite in output mode, in which the mutual suppression of the complete desynchronization exhibits a periodic oscillation nodeAnd (3) a pitch signal, wherein the vertical steering engines in the steering engines are vertically arranged to generate pitching motion in an up-and-down swinging mode.
If the neuron output pattern in the DHCO functional structural unit does not have a completely synchronous or desynchronized pattern, the signal output Osc of the DHCO functional structural unit is subjected to excitation-inhibition by motor neurons1And Osc2All can produce periodic rhythm's signal output, the steering wheel that mutually perpendicular placed this moment can do yaw motion and pitch motion in horizontal direction and vertical direction simultaneously.
Establishing a bionic CPG motion control system of the snake-shaped robot, wherein the bionic CPG motion control system is formed by coupling and connecting DHCO functional structure units, the connection mode is one-way time-lag coupling based on signal propagation, phase difference adjustment between the functional structure units is realized by changing time lag, the fluctuation motion direction of the snake-shaped robot is controlled, rhythm signals of the bionic CPG motion control system are output, a steering engine corresponding to joint driving of the snake-shaped robot is corresponding to, and motion waveforms required by motion control of the snake-shaped robot are obtained by changing CPG parameters.
Based on the DHCO functional structure unit constructed by the VDP, under the coupling connection of one-way time lag, the network structure of the whole CPG neural network system and the structural schematic diagram of the regulation relation between the DHCO functional structure unit and the snake-shaped robot joint driving steering engine are shown in figure 1. By utilizing a VDP oscillator equation and a coupling connection mode thereof, a control equation of a CPG system is as follows:
wherein x isiFor the signal output of the ith VDP oscillator model, epsilon>0 is the shape parameter of the control periodic rhythm signal, alphai>0 and betai>0 is the frequency and amplitude of the rhythm signal used to control the ith VDP oscillator, τ>0 is the coupling lag, μ, of the DHCO internal neurons>0 is the coupling time lag between DHCO units, and for simplicity, the coupling strength of the internal neurons of a DHCO unit and the coupling strength between units are fixed to k1And k2。
By changing the coupling time lag parameter mu between the functional structural units DHCO, the phase difference between the DHCO units can be realized, and the phase difference is used for regulating and controlling the fluctuating movement direction of the snake-shaped robot, as shown in FIG. 6. In this case, the number n of DHCO functional units is selected to be 5, VDP oscillators as internal neuron models thereof are completely the same, corresponding parameters are ∈ 0.03, α ═ 1, β ═ 1, k ═ 0.1, and τ = 0.1, respectively, and by increasing the coupling time lag μ between DHCOs, the phase difference between the odd-numbered VDP oscillator output signals can be changed with an increase in time lag, and the CPG rhythm signal pattern of the backward fluctuation spatio-temporal feature becomes the forward spatio-temporal feature with an increase in time lag. At the moment, the snake-shaped robot can realize continuous switching change of advancing and retreating, and the time lag between DHCO is used for regulating and controlling the fluctuating movement direction of the snake-shaped robot.
Rhythm signal output of the bionic CPG motion control system corresponds to a steering engine driven by a snake-shaped robot joint, a motion waveform required by the motion control of the snake-shaped robot is obtained by adjusting CPG system parameters, as shown in figures 7-12, in a CPG output mode shown in figures 7 and 8, a periodic oscillation rhythm corresponds to a steering engine which swings left and right in the horizontal direction, and a steering engine arranged in the vertical direction does not have signal input of the periodic rhythm, at the moment, the snake-shaped robot only adopts a meandering motion mode in the horizontal direction, wherein figure 7 shows a horizontal meandering motion in the advancing direction, and when a time lag parameter is changed, the advancing meandering motion can be switched to a backward meandering motion, as shown in figure 8.
Similarly, if the internal parameters of DHCO are chosen such that the oscillatory rhythm signal it outputs has a completely desynchronized pattern, then the horizontal serpentine motion pattern of the serpentine robot can be switched to vertically undulating motion in the same network topology as described above, as shown in fig. 9 and 10, where fig. 9 shows forward vertical undulating motion and fig. 10 shows backward vertical undulating motion.
By changing internal parameters of the DHCO, the VDP oscillator output mode can be very easily realized to be not completely synchronous or completely desynchronized, at the moment, under the condition that the network topology of the control system is not changed, the yaw swing in the horizontal direction and the pitch swing in the vertical direction can be simultaneously carried out, the snake-shaped robot constructed by the steering engine is arranged vertically, the lateral rolling motion mode can be realized, the coupling time lag between DHCO units is realized, the motion direction of the snake-shaped robot is also realized, as shown in figures 11 and 12, wherein figure 11 shows the forward lateral rolling motion of the snake-shaped robot, and figure 12 shows the backward lateral rolling motion.
In conclusion, the technical scheme provides a time-lag semi-central oscillator (DHCO) which is a bionic CPG functional structural unit capable of generating various rhythm signal outputs from the bionics of a vertebrate motor nervous system, and establishes a bionic CPG motion regulation and control method of a snake-shaped robot by utilizing one-way time-lag coupling connection of DHCO signal propagation based on multi-joint wave motion characteristics of the snake-shaped robot, so that various motion modes of the snake-shaped robot, such as horizontal winding motion, vertical wave motion, lateral rolling motion and the like, are realized.
The functional structure unit DHCO is a time-lag coupling system of a plurality of neurons, the neurons can be oscillator models capable of generating rhythm signals or node models incapable of generating the rhythm signals, and the neurons generate oscillation rhythm signals through bidirectional time-lag coupling.
The DHCO functional structural unit can generate synchronous and desynchronized stable rhythm signals, and the synchronization and desynchronization can be symmetrical and antisymmetric, also can refer to lag synchronization with the same phase difference, or phase synchronization with the same frequency and different amplitudes, even generalized synchronization such as cluster synchronization and the like; the time-space characteristics of the rhythm signal are kept unchanged in a time-lag area and cannot be changed due to the change of time lag, so that the rhythm signal has good robustness;
the time-space characteristics of the DHCO neuron rhythm signals can be given to the corresponding parameter regions through theoretical methods and numerical methods such as kinetic analysis and the like, the time-space characteristics are kept unchanged in the determined parameter regions and cannot be changed due to the change of parameters, the parameter regulation and control among the regions can realize the quick switching of synchronization and desynchronization, and the DHCO functional structural unit has good parameter adjustability;
the DHCO functional structure unit expressed based on the differential equation model has lower dimensionality, and parameter areas corresponding to synchronous and anti-synchronous rhythm signals can be provided through theoretical methods and numerical methods such as kinetic analysis and the like.
In addition, the technical scheme is also based on an excitability-inhibitability regulation mechanism of a motor neuron in a biological CPG nervous system, a motor neuron module is arranged in a DHCO functional structure unit, and excitatory (+) and inhibitive (-) signal actuation processing is carried out on synchronous and desynchronous rhythm signals;
considering that the snake-shaped robot has multi-joint structural characteristics, driving devices such as steering engines and the like for controlling joint movement are required to be vertically placed adjacent to the steering engines and be parallelly placed at intervals, and the steering engines do yawing movement in the horizontal direction and pitching movement in the vertical direction.
According to the technical scheme, DHCO functional structure units are coupled and connected to construct a bionic CPG motion regulation and control system, the connection mode is one-way time-lag coupling based on signal propagation, phase difference regulation between the functional structure units is realized by changing time lag, and the bionic CPG motion regulation and control system is used for regulating and controlling the fluctuation motion direction of the snake-shaped robot; and the rhythm signal output of the bionic CPG motion regulation and control system corresponds to a steering engine driven by the snake-shaped robot joint, and the motion waveform required by the motion regulation and control of the snake-shaped robot can be obtained by changing the CPG parameters.
Claims (10)
1. The bionic CPG motion control system of the snake-shaped robot is characterized by comprising a plurality of DHCO units which are sequentially coupled and connected, wherein the phase difference between the DHCO units is adjustable, the DHCO units are respectively connected with two adjacent steering engines which are vertically arranged, and the DHCO units are used for outputting synchronous and anti-synchronous stable rhythm signals so as to control the two connected steering engines to generate yaw motion in the horizontal direction or pitch motion in the vertical direction.
2. The bionic CPG motion control system of the snake-shaped robot as claimed in claim 1, wherein the DCHO unit comprises two neuron models for generating rhythm signals, and the two neuron models are in a two-way time-lag coupling relationship.
3. The bionic CPG motion control system of the snake-like robot as claimed in claim 2, wherein the DCHO unit further comprises two motor neuron modules for performing excitatory and inhibitory signal actuation on synchronous and anti-synchronous rhythm signals, the motor neuron modules being connected to the two neuron models respectively.
4. The bionic CPG motion control system of the snake-shaped robot as claimed in claim 3, wherein the two motor neuron modules are respectively connected with two adjacent steering engines.
5. The bionic CPG motion control system of the snake-shaped robot as claimed in claim 2, wherein the neuron model is an oscillator model capable of generating a rhythm signal, and a linear time-lag coupling relationship or a non-linear time-lag coupling relationship exists between the two oscillator models.
6. The bionic CPG motion control system of the snake-shaped robot as claimed in claim 2, wherein the neuron model is a node model which can not generate rhythm signals, and a nonlinear time-lag coupling relationship or a linear time-lag coupling relationship is between the two node models.
7. A bionic CPG motion regulation and control method of a snake-shaped robot is characterized by comprising the following steps:
s1, constructing a DHCO unit for generating an oscillating rhythm signal, wherein the DHCO unit comprises two neurons which are coupled in a bidirectional time-lag manner;
s2, correspondingly combining and connecting the plurality of DHCO units with the steering engine respectively, and connecting the plurality of DHCO units through one-way time-lag coupling to construct a body structure of the snake-shaped robot;
s3, correspondingly regulating and controlling the fluctuation movement direction of the snake-shaped robot by changing the phase difference between the DHCO units; and the CPG parameters are changed to correspondingly regulate and control the motion waveform of the snake-shaped robot.
8. The bionic CPG motion control method of the snake-shaped robot as claimed in claim 7, wherein the DHCO unit in step S1 is two oscillator models connected by linear time-lag coupling or nonlinear time-lag coupling, or two node models connected by nonlinear time-lag coupling or linear time-lag coupling.
9. The bionic CPG motion control method of the snake-shaped robot as claimed in claim 7, wherein the step S2 comprises the following steps:
s21, arranging and connecting two independent motor neuron modules between two neurons, wherein the two motor neuron modules are respectively connected to two adjacent steering engines, and the two steering engines are vertically arranged to obtain a joint structure of the snake-shaped robot, wherein the two motor neuron modules are used for performing excitatory and inhibitory signal actuation processing on synchronous and anti-synchronous rhythm signals so as to correspondingly output the obtained DHCO signals to the steering engines driven by the joints of the snake-shaped robot;
s22, sequentially coupling and connecting the joint structures, wherein two steering engines at intervals in every two joint structures are arranged in parallel.
10. The bionic CPG movement control method of the snake-shaped robot as claimed in claim 9, wherein the step S3 is specifically to change the phase difference between the DHCO units by changing the coupling time-lag parameter between the DHCO units so as to correspondingly control the wave movement direction of the snake-shaped robot, wherein the wave movement direction comprises forward and backward;
the step S3 is to make the DHCO unit output periodic oscillation rhythm signal, completely anti-synchronous oscillation rhythm signal, incompletely synchronous or incompletely anti-synchronous oscillation rhythm signal by changing CPG parameter, so as to correspondingly regulate and control the snake-shaped robot to realize horizontal meandering motion, vertical waving motion or lateral rolling motion.
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| CN115598981A (en) * | 2022-10-27 | 2023-01-13 | 北京科技大学（Cn） | Electric control method and distributed power supply system for orthogonal joint snake-shaped robot |
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