A Cubic CPG Model for Snake-like Robot to Adapt to Environment

摘要：

In this paper, we propose a new CPG model for the snake-like robot being able to adapt to different environments. This model can produce typical serpentine, sidewinding and traveling wave locomotion gaits and switch between them automatically based on a simple input signal. The stability of this model is verified and the parameter restrictions are determined. Then, we investigate the relationship between the properties of CPG output and the parameters. Finally, the adaptive characters of this model is discussed. We found that there is an amazing similarity between the locomotion patterns produced by the CPG model and those of the real snake. The contribution of this work makes the snake-like robot be more adaptive to complex environments.

关键词： Snake-like robot adaptive CPG model Locomotion control sensory feedback

作者: Chaoquan Tang Shugen Ma Bin Li Yuechao Wang

作者单位: State Key Laboratory of Robotics,Shenyang Institute ofAutomation Chinese Academy of SciencesShenyang State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of Sciences Shenya State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of SciencesShenyan State Key Laboratory of Robotics,Shenyang Institute of Automation Chinese Academy of Sciences Shenya

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）