CPG-controlled Asymmetric Locomotion of a Snake-like Robot for Obstacle Avoidance

摘要：

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. To verify the proposed control approach, both simulation and experiment of the snake-like robot for avoidance of an obstacle have been carried out.

作者: Xiaodong Wu Shugen Ma

作者单位: Department of Robotics,Ritsumeikan University,525-8577 Shiga,Japan Department of Robotics,Ritsumeikan University,525-8577 Shiga,Japan Shenyang Institute of Automation,

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 69-74

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）