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

Content Provider	Springer Nature Link
Author	Wu, Xiaodong Ma, Shugen
Copyright Year	2009
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.
Starting Page	283
Ending Page	294
Page Count	12
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	28
Issue Number	3
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2009-12-30
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Computer Imaging, Vision, Pattern Recognition and Graphics Artificial Intelligence (incl. Robotics) Control , Robotics, Mechatronics Robotics and Automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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