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In this paper, a biomimetic approach is proposed to solve the difficulty in control of a snake-like robot with a large number of degrees of freedom. This method is based on the central pattern generator (CPG), which is a rhythmical motion generator existing in most animals. Compared with the previous research, a new network with feedback connection is presented, which can generate uniform outputs...
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...
To realize the obstacle avoidance of a snake-like robot in unstructured environment, an asymmetric locomotion of snake-like robot is introduced. Imitating from the locomotion of natural snakes, the turn motion and the round motion of the snake-like robot are analyzed respectively. A CPG-based control system with parameter-transmitting characteristics is developed for control of the asymmetric locomotion...
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