CONTENTS
2.1 Introduction .................................................................................................. 14
2.2 CPG Models for Generation of Rhythmic Motion .................................. 15
2.3 CPG Network for Control of a Snake-Like Robot ................................... 16
2.3.1 CPG Network with Feedback Connection ................................... 17
2.3.2 Analysis of a CPG Network ........................................................... 20
2.4 CPG-Controlled Snake-Like Robot ...........................................................22
2.4.1 Control of the Locomotion Curvature .......................................... 23
2.4.2 Control of the Locomotion Speed .................................................. 24
2.4.3 Control of the Number of S-Shapes .............................................. 24
2.4.4 Control of the Turning Motion ...................................................... 25
2.4.5 Control of the Round Motion ......................................................... 26
2.5 Experiments .................................................................................................. 26
2.6 Summary ....................................................................................................... 29
References ............................................................................................................... 31
2
CPG-Based Control of Serpentine
Locomotion of a Snake-Like Robot
Xiaodong Wu and Shugen Ma
Ritsumeikan University
Shiga, Japan
Abstract
A biomimetic approach is proposed to solve the difficulty in controlling 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. To solve the
problems in the previous CPG network, a new network with a feedback
connection is presented that can generate uniform outputs without any
adjustment. Furthermore, the relation characteristics between the CPG
parameters and the outputs are investigated. Based on the results of the
influence of each parameter, desired motion patterns can be achieved by
adjusting the CPG parameters correspondingly. Both simulation of and
experiments with the snake-like robot have been taken for the analysis
of the locomotion control.
13
2.1 Introduction .................................................................................................. 14
2.2 CPG Models for Generation of Rhythmic Motion .................................. 15
2.3 CPG Network for Control of a Snake-Like Robot ................................... 16
2.3.1 CPG Network with Feedback Connection ................................... 17
2.3.2 Analysis of a CPG Network ........................................................... 20
2.4 CPG-Controlled Snake-Like Robot ...........................................................22
2.4.1 Control of the Locomotion Curvature .......................................... 23
2.4.2 Control of the Locomotion Speed .................................................. 24
2.4.3 Control of the Number of S-Shapes .............................................. 24
2.4.4 Control of the Turning Motion ...................................................... 25
2.4.5 Control of the Round Motion ......................................................... 26
2.5 Experiments .................................................................................................. 26
2.6 Summary ....................................................................................................... 29
References ............................................................................................................... 31
2
CPG-Based Control of Serpentine
Locomotion of a Snake-Like Robot
Xiaodong Wu and Shugen Ma
Ritsumeikan University
Shiga, Japan
Abstract
A biomimetic approach is proposed to solve the difficulty in controlling 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. To solve the
problems in the previous CPG network, a new network with a feedback
connection is presented that can generate uniform outputs without any
adjustment. Furthermore, the relation characteristics between the CPG
parameters and the outputs are investigated. Based on the results of the
influence of each parameter, desired motion patterns can be achieved by
adjusting the CPG parameters correspondingly. Both simulation of and
experiments with the snake-like robot have been taken for the analysis
of the locomotion control.
13