Adaptive creeping locomotion of a CPG-controlled snake-like robot to environment change

Authors:
Xiaodong Wu;Shugen Ma
Affiliations:
Department of Robotics, College of Science and Engineering, Ritsumeikan University, Kusatsu-Shi, Japan 525-8577;Department of Robotics, College of Science and Engineering, Ritsumeikan University, Kusatsu-Shi, Japan 525-8577 and Shenyang Institute of Automation, Shenyang, China 110015
Venue:
Autonomous Robots
Year:
2010

Citing 5
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Abstract

In this paper, we present a biomimetic approach which is based on Central Pattern Generator (CPG) to solve the difficulty in control of a snake-like robot with a large number of degrees of freedom. A new network with a feedback connection is proposed, which can generate uniform outputs without any additional adjustment. The relations between the CPG parameters and the characteristics of output are also investigated. A simulation platform is also established for the analysis of the CPG-based locomotion control of a snake-like robot. To figure out adaptive creeping locomotion of the robot to the environment with changed friction or the given slope, the relations of CPG parameters and locomotion efficiency by the proposed curvature adaptive principle have been discussed.