• CPG-Based Control of an Octopo...

*Result*: CPG-Based Control of an Octopod Biomimetic Machine Lobster for Mining Applications: Design and Implementation in Challenging Underground Environments.

Title:
CPG-Based Control of an Octopod Biomimetic Machine Lobster for Mining Applications: Design and Implementation in Challenging Underground Environments.
Authors:
Zhao J; Faculty of Mechanical and Electrical Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China., Zhang H; Faculty of Mechanical and Electrical Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China., Bao M; Shandong Guoxing Intelligent Technology Co., Ltd., Yantai 264000, China., Yin B; School of Electrical and Electronic Engineering, College of Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore., Zhang Y; Emergency Management Department Information Research Institute, Beijing 100029, China., Jiang Z; Faculty of Mechanical and Electrical Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China.
Source:
Sensors (Basel, Switzerland) [Sensors (Basel)] 2025 Jul 11; Vol. 25 (14). Date of Electronic Publication: 2025 Jul 11.
Publication Type:
Journal Article
Language:
English
Journal Info:
Publisher: MDPI Country of Publication: Switzerland NLM ID: 101204366 Publication Model: Electronic Cited Medium: Internet ISSN: 1424-8220 (Electronic) Linking ISSN: 14248220 NLM ISO Abbreviation: Sensors (Basel) Subsets: MEDLINE
Imprint Name(s):
Original Publication: Basel, Switzerland : MDPI, c2000-
MeSH Terms:
Robotics*/methods , Biomimetics*/methods , Central Pattern Generators*/physiology , Mining*, Gait/physiology ; Animals ; Biomechanical Phenomena ; Neural Networks, Computer
References:
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Grant Information:
BIA200191 General Project of Education of National Social Science Foundation
Contributed Indexing:
Keywords: CPG control; Kuramoto model; gait design; octopod bionic robot; shape memory alloys
Entry Date(s):
Date Created: 20250730 Date Completed: 20250730 Latest Revision: 20250802
Update Code:
20260130
PubMed Central ID:
PMC12300860
DOI:
10.3390/s25144331
PMID:
40732459
Database:
MEDLINE

*Further Information*

*Central pattern generators (CPGs) have been extensively researched and validated as a well-established methodology for bionic control, particularly within the field of legged robotics. However, investigations concerning octopod robots remain relatively sparse. This study presents the design of an octopod robotic system inspired by the biological characteristics of lobsters. The machine lobster utilizes remote sensing technology to execute designated tasks in subterranean and mining environments, with its motion regulated by CPGs, accompanied by a comprehensive simulation analysis. The research commenced with the modeling of a biomimetic lobster robot, which features a three-degree-of-freedom leg structure and torso, interconnected by shape memory alloys (SMAs) that serve as muscle actuators. Mathematically, both forward and inverse kinematics were formulated for the robot's legs, and a 24-degree-of-freedom (DOF) gait pattern was designed and validated through MATLAB 2020a simulations. Subsequently, a multi-layer mesh CPG neural network model was developed utilizing the Kuramoto model, which incorporated frustration effects as the rhythm generator. The control model was constructed and evaluated in Simulink, while dynamic simulations were conducted using Adams 2022 software. The findings demonstrate the feasibility, robustness, and efficiency of the proposed CPG network in facilitating the forward locomotion of the lobster robot, thereby broadening the range of control methodologies applicable to octopod biomimetic robots.*