Research on Underwater Gait Generation of Amphibious Bionic Robot
An amphibious bionic robot with cambered leg and paddle fin is designed and an underwater gait mapping function of the amphibious robot is proposed,in order to expect the robot to obtain a propulsion mode similar to that of sea turtles.According to the morphological structure and movement patterns of sea turtles,a central pattern generator(CPG)neural network with a six-leg fully coupled topology is established based on the Hopf oscillator as the basic neuron.The CPG output signal and the robot's underwater gait mapping function are analyzed,and the adjustment of parameters is optimized.Finally,through simulation and test,the conversion diagram of the underwater gait is generated,the feasibility of the optimized gait CPG output signal and the underwater gait mapping function of the robot are proved.
万方数据
维普
