中央模式生成器是为了实时适应节奏刺激而进化而来的
Alex Szorkovszky1,2, Frank Veenstra2, Kyrre Glette1,2
1RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway.
Bioinspiration & biomimetics
|June 20, 2023
概括
这项研究引入了生物灵感的机器人中央模式发生器 (CPG),使得与外部节奏刺激同步的自适应步态能够加强协作和自主.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物仿真工程 生物仿真工程
- 计算神经科学是一种神经科学.
背景情况:
- 自主和协作机器人需要适应性的运动.
- 传统的腿类机器人由于固定振荡周期而具有有限的步态适应性.
研究的目的:
- 为虚拟四足机器人开发一个生物灵感的中央模式发生器 (CPG).
- 为了使机器人运动与外部节奏刺激的自发同步.
- 为了提高机器人的适应性,以完成协作任务.
主要方法:
- 利用多目标进化算法来优化步态.
- 基于大脑干驱动和质量控制中心的优化运动速度和方向.
- 实现了一个额外的神经层来过波动的输入.
主要成果:
- CPGs证明了与各种节奏刺激的自发同步.
- 步行模式和频率调整以匹配输入周期.
- 促进了不同机器人形态的协调运动.
结论:
- 生物灵感的CPG增强了机器人的适应性和协作潜力.
- 这种方法使机器人能够学习新的运动模式并有效地同步.
- 通过自适应运动实现无人机和机器人机器人互动.
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