模块化机器人通过中枢模式生成器实现独立与协同运动的自由切换。
Transformable Modular Robots: A CPG-Based Approach to Independent and Collective Locomotion
- 分层中枢模式生成器控制单模块与多模块运动
- 仿真与实测均验证了稳定灵活的移动能力
- 适合搜救、探测等需自适应变形的场景
模块化机器人可实现多功能自适应系统，具备自主重构能力。本文提出一种模块化机器人系统，每个模块拥有独立驱动、电池供电和控制能力，支持个体移动与协同运动。采用分层中枢模式生成器（CPG）框架，低层CPG控制单个模块运动，高层CPG协调模块间同步，实现独立与集体行为间的平滑过渡。在MuJoCo中进行仿真，并开展硬件实验，评估不同构型下的运动表现。先分析单模块运动，再研究双模块协作运动。结果表明，基于CPG的控制框架能实现鲁棒、灵活且可扩展的运动。该模块化架构在搜救、环境监测与自主探索等需要高适应性与可重构性的领域具有应用潜力。
原文摘要 · Abstract (English)
Modular robotics enables the development of versatile and adaptive robotic systems with autonomous reconfiguration. This paper presents a modular robotic system in which each module has independent actuation, battery power, and control, allowing both individual mobility and coordinated locomotion. A hierarchical Central Pattern Generator (CPG) framework governs motion, with a low-level CPG controlling individual modules and a high-level CPG synchronizing inter-module coordination, enabling smooth transitions between independent and collective behaviors. To validate the system, we conduct simulations in MuJoCo and hardware experiments, evaluating locomotion across different configurations. We first analyze single-module motion, followed by two-module cooperative locomotion. Results demonstrate the effectiveness of the CPG-based control framework in achieving robust, flexible, and scalable locomotion. The proposed modular architecture has potential applications in search and rescue, environmental monitoring, and autonomous exploration, where adaptability and reconfigurability are essential.
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