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CPG-Based Control of Serpentine Locomotion of a Snake-Like Robot
One of the important features of the CPG-based neural system is that it
can not only receive inputs from a higher level of the central nervous system
but also from peripheral receptors (Mattia, Paolo, and Luigi 2004). Thus, its
functioning results from an interaction between central commands and local
reflexes (Heliot and Espiau 2008). This concept allows us to achieve coordination between the snake’s joints and environmental information by using
a neural oscillator network-based controller. How to utilize this feature to
achieve adaptive locomotion control of the snake-like robot will be an interesting research topic.
References
Conradt, J. and Varshavskaya, P. 2003. Distributed central pattern generator control for a serpentine robot. Proceedings of Artificial Neural Networks and Neural
Information Processing, pp. 338–341.
Crespi, A. and Ijspeert, A.J. 2008. Online optimization of swimming and crawling in
an amphibious snake robot. IEEE Transactions on Robotics, 24(1): 75–87.
Ekeberg, O. 1993. A combined neuronal and mechanical model of fish swimming.
Biological Cybernetics, 69(5–6): 363–374.
Fukuoka, Y., Kimura, H., and Cohen, A.H. 2003. Adaptive dynamic walking of a
quadruped robot on irregular terrain based on biological concepts. International
Journal of Robotics Research, 22(3–4): 187–202.
Heliot, R. and Espiau, B. 2008. Multisensor input for CPG-based sensory-motor coordination. IEEE Transactions on Robotics, 24(1): 191–195.
Hirose, S. 1993. Biologically Inspired Robots: Snake-Like Locomotors and Manipulators.
New York: Oxford University Press.
Inoue, K., Ma, S., and Jin, C. 2004. Neural oscillator network-based controller for
meandering locomotion of snake-like robot. Proceedings of the International
Conference on Robotics and Automation, pp. 5064–5069.
Kimura, H., Akiyama, S., and Sakurama, K. 1999. Realization of dynamic walking
and running of the quadruped using neural oscillator. Autonomous Robots, 7(3):
247–258.
Lu, Z., Ma, S., Li, B., and Wang, Y. 2005. Serpentine locomotion of a snake-like robot
controlled by cyclic inhibitory CPG model. Proceedings of the International
Conference on Intelligent Robots and Systems, pp. 3019–3024.
Lu, Z., Ma, S., Li, B., and Wang, Y. 2006. 3D Locomotion of a snake-like robot controlled by cyclic inhibitory CPG model. Proceedings of the International Conference
on Intelligent Robots and Systems, pp. 3897–3902.
Ma, S. 2001. Analysis of creeping locomotion of a snake-like robot. Advanced Robotics,
15(2): 205–224.
Matsuo, T., Yokoyama, T., and Ishii, K. 2007. Development of neural oscillator
based motion control system and applied to snake-like robot. Proceedings of the
International Conference on Intelligent Robots and Systems, pp. 3697–3702.
CPG-Based Control of Serpentine Locomotion of a Snake-Like Robot
One of the important features of the CPG-based neural system is that it
can not only receive inputs from a higher level of the central nervous system
but also from peripheral receptors (Mattia, Paolo, and Luigi 2004). Thus, its
functioning results from an interaction between central commands and local
reflexes (Heliot and Espiau 2008). This concept allows us to achieve coordination between the snake’s joints and environmental information by using
a neural oscillator network-based controller. How to utilize this feature to
achieve adaptive locomotion control of the snake-like robot will be an interesting research topic.
References
Conradt, J. and Varshavskaya, P. 2003. Distributed central pattern generator control for a serpentine robot. Proceedings of Artificial Neural Networks and Neural
Information Processing, pp. 338–341.
Crespi, A. and Ijspeert, A.J. 2008. Online optimization of swimming and crawling in
an amphibious snake robot. IEEE Transactions on Robotics, 24(1): 75–87.
Ekeberg, O. 1993. A combined neuronal and mechanical model of fish swimming.
Biological Cybernetics, 69(5–6): 363–374.
Fukuoka, Y., Kimura, H., and Cohen, A.H. 2003. Adaptive dynamic walking of a
quadruped robot on irregular terrain based on biological concepts. International
Journal of Robotics Research, 22(3–4): 187–202.
Heliot, R. and Espiau, B. 2008. Multisensor input for CPG-based sensory-motor coordination. IEEE Transactions on Robotics, 24(1): 191–195.
Hirose, S. 1993. Biologically Inspired Robots: Snake-Like Locomotors and Manipulators.
New York: Oxford University Press.
Inoue, K., Ma, S., and Jin, C. 2004. Neural oscillator network-based controller for
meandering locomotion of snake-like robot. Proceedings of the International
Conference on Robotics and Automation, pp. 5064–5069.
Kimura, H., Akiyama, S., and Sakurama, K. 1999. Realization of dynamic walking
and running of the quadruped using neural oscillator. Autonomous Robots, 7(3):
247–258.
Lu, Z., Ma, S., Li, B., and Wang, Y. 2005. Serpentine locomotion of a snake-like robot
controlled by cyclic inhibitory CPG model. Proceedings of the International
Conference on Intelligent Robots and Systems, pp. 3019–3024.
Lu, Z., Ma, S., Li, B., and Wang, Y. 2006. 3D Locomotion of a snake-like robot controlled by cyclic inhibitory CPG model. Proceedings of the International Conference
on Intelligent Robots and Systems, pp. 3897–3902.
Ma, S. 2001. Analysis of creeping locomotion of a snake-like robot. Advanced Robotics,
15(2): 205–224.
Matsuo, T., Yokoyama, T., and Ishii, K. 2007. Development of neural oscillator
based motion control system and applied to snake-like robot. Proceedings of the
International Conference on Intelligent Robots and Systems, pp. 3697–3702.