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The control of a snake-like robot is a challenging problem because of the complex dynamics and the unknown environment. We have proposed an energy-based method, called passive creeping, to control the serpentine locomotion. This paper lays emphasis on the stability and the adaptability of the method. First, the local orbital stability of the movement is explicated based on the maximal Lyapunov exponent...
With 3D (3-dimensional) movement's ability and rhythmic locomotion mode, a nature snake makes itself survive in rugged terrains. The rhythmic activities of most creatures are generated by the CPG (central pattern generator). Based on this fact, the sustained-type neuron has been adopted to construct a cyclic inhibitory CPG model for a snake-like robot whose joints are perpendicularly connected in...
Snake-like robots that behaves biological snakes' characteristics have possibility to make them supremely adapted for environment. In this paper, we firstly design a snake-like robot controller with cyclic inhibitory CPG model, and then analyze the stability of single neuron, CPG model and the neuron oscillator network (NON). By implementing this control architecture to a simulator with consideration...
To acquire more environmental information for planning further tasks, the snake-like robot has to raise its head to observe the situation at a high position due to its low-height stature, which resembles the head-raising motion of the natural snake. In this paper, the motion of snake-like robot raising head is realized by improving the serpentine input function, and two methods of head raising motion...
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