Locomotion Patterns based on a CPG Model of Snake Robot

DOI

10.2991/mme-16.2017.80How to use a DOI?

Keywords

Locomotion Patterns, CPG Network Model, Laboratory Simulation, Snake Robot.

Abstract

The large number and scales of earthquake disasters have occurred around the world in the past decade. In order to mitigate damages from earthquake disasters, the intelligent rescue systems with high information technology and robot technology have been expected. With the rapid development of rescue robot, snake robots have great potential in the search and rescue operation of the earthquake disasters due to their slim and flexible bodies. In this paper, a novel control method for a snake robot is proposed. Our method can generate different types of locomotion pattern in the complex terrain, and it may employ a central pattern generator (CPG) model based on Hopf oscillators in order to acquire desired locomotion patterns. The simulation results of the proposed method show that the proposed method is feasible.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wei-Jian Hu
AU  - Lan-Ying Zhao
AU  - Jun-Li Yan
AU  - Jin-Xiao Li
AU  - Zhe-Long Wang
PY  - 2016/12
DA  - 2016/12
TI  - Locomotion Patterns based on a CPG Model of Snake Robot
BT  - Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)
PB  - Atlantis Press
SP  - 588
EP  - 593
SN  - 2352-5401
UR  - https://doi.org/10.2991/mme-16.2017.80
DO  - 10.2991/mme-16.2017.80
ID  - Hu2016/12
ER  -