Development of a new spinning gait for a planar snake robot using central pattern generators

Authors:
Shahir Hasanzadeh;Alireza Akbarzadeh
Affiliations:
Center of Excellence on Soft Computing and Intelligent Information Processing, SCIIP, Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran;Center of Excellence on Soft Computing and Intelligent Information Processing, SCIIP, Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran
Venue:
Intelligent Service Robotics
Year:
2013

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Abstract

In this paper, we first present dynamic equation of n-link snake robot using Lagrange's method in a simplified matrix form and verify them experimentally. Next, we introduce a new locomotion mode called spinning gait. Central pattern generators (CPGs) are used for online gait generation. To realize spinning gait, genetic algorithm is used to find optimal CPG network parameters. We illustrate both theoretically, using derived robot dynamics and experimentally that the CPG-based online gait generation method allows continuous and rather smooth transitions between gaits. Lastly, we present an application where the snake robot is guided from an initial to final position while avoiding obstacles by changing CPG parameters.