Design of a cyclic inhibitory CPG controller for the locomotion of a snakelike robot

2006, Volume 1, Issue 4

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Frontiers of Mechanical Engineering >> 2006, Volume 1, Issue 4 doi: 10.1007/s11465-006-0046-7

1.Robotics Laboratory, Shenyang Institute of Automation, Shenyang 110016, China; Graduate School of the Chinese Academy of Sciences, Beijing 100039, China; Shenyang Ligong University, Shenyang 110168, China; 2.Robotics Laboratory, Shenyang Institute of Automation, Shenyang 110016, China; Organization for Promotion of the COE Program, Ritsumeikan University, Shiga-Kan, 525?8577 Japan; 3.Robotics Laboratory, Shenyang Institute of Automation, Shenyang 110016, China;

Available online: 2006-12-05

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Abstract

The rhythmic locomotion of a creature is a self-excitation behavior of the CPG (central pattern generator), which makes it supremely adapted for environment. Based on this fact, firstly, a snake-ike robot controller with cyclic inhibitory CPG model was designed, and then the stability of a single neuron, CPG model and the NON ( neuron oscillator network) was analyzed. By implementing this control architecture to a simulator based on the mechanical dynamics of a real snake-like robot named Perambulator-I, we presented preliminary rules for parameter setting of the CPG controller to modulate the number of S shapes, the curve of the body shape, locomotion velocity, and the curve of the locomotion trajectory for serpentine locomotion. Moreover, we demonstrated that Perambulator-I can successfully exhibit serpentine locomotion by using the output of the proposed CPG controller. The results of this paper provide a realistic approach for designing an artificial CPG controller.

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