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

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

 

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.

 

Keywords

chaotic CPG;self-reconfigurable robot;environment adaptability;locomotion control model

 

Full text is available at http://www.sciencedirect.com/science/article/pii/S1672652914601578