The Handbook of Brain Theory and Neural Networks
The Handbook of Brain Theory and Neural Networks
Neurotechnology for Biomimetic Robots
Neurotechnology for Biomimetic Robots
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biomimetic Centering for Undulatory Robots
International Journal of Robotics Research
Modeling and Simulation of Inchworm Mode Locomotion
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
An Adaptable Oscillator-Based Controller for Autonomous Robots
Journal of Intelligent and Robotic Systems
CPG-controlled asymmetric locomotion of a snake-like robot for obstacle avoidance
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
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Undulatory locomotion is studied as a biological paradigm of versatile body morphology and effective motion control, adaptable to a large variety of unstructured and tortuous environmental conditions. Computational models of undulatory locomotion have been developed, and validated on a series of robotic prototypes propelling themselves on sand. The present paper explores in simulation neuromuscular motion control for these undulatory robot models, based on biomimetic central pattern generators and on information from distributed distance sensors. This leads to reactive control schemes, which achieve (i) traversal of corridor-like environments, and (ii) formation control for swarms of undulatory robots.