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Gaits-transferable CPG controller for a snake-like robot
Authors:Lu ZhenLi  Ma ShuGen  Li Bin and Wang YueChao
Affiliation:(1) Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China;(2) Organization for Promotion of the COE Program, Ritsumeikan University, Shiga-Kan 525-8577, Japan;(3) Graduate School of the Chinese Academy of Sciences, Beijing, 100039, China;(4) Shenyang Ligong University, Shenyang, 110168, China
Abstract:With slim and legless body, particular ball articulation, and rhythmic locomotion, a nature snake adapted itself to many terrains under the control of a neuron system. Based on analyzing the locomotion mechanism, the main functional features of the motor system in snakes are specified in detail. Furthermore, a bidirectional cyclic inhibitory (BCI) CPG model is applied for the first time to imitate the pattern generation for the locomotion control of the snake-like robot, and its characteristics are discussed, particularly for the generation of three kinds of rhythmic locomotion. Moreover, we introduce the neuron network organized by the BCI-CPGs connected in line with unilateral excitation to switch automatically locomotion pattern of a snake-like robot under different commands from the higher level control neuron and present a necessary condition for the CPG neuron network to sustain a rhythmic output. The validity for the generation of different kinds of rhythmic locomotion modes by the CPG network are verified by the dynamic simulations and experiments. This research provided a new method to model the generation mechanism of the rhythmic pattern of the snake.
Keywords:snake-like robot  bidirectional cyclic inhibition (BCI)  central pattern generator (CPG)  stability analysis  locomotion control
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