Bio-inspired snake robot locomotion: A CPG-based control approach

Billah, Md. Masum; Khan, Md. Raisuddin

doi:10.1109/nsitnsw.2015.7176385

Cited by 4 publications

(3 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Each parameter was optimised in a particular search interval. Parameter a was optimised in an interval [ 7π 8 , 9π 8 ], parameter b in [ 3π 2 , 5π 2 ] and parameter ω in [1,3]. Figure 7: The detail of a snake robot during GA optimization process visualized by SIL simulation.…”

Section: Physical Simulationmentioning

confidence: 99%

“…The CPG method is based on the Central Pattern Generator (CPG), which is a rhythmical motion generator existing in most animals. This kind of control method for simulating a snake's rhythmic movement in recent years has been widely used in the realization of the locomotive function of snake-like robots [6] and [1]. CPG is a neural network that exists in the spinal cords of living forms which is utilized as an activation signal for muscle contractions, i.e.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design

Hůlka¹,

Matoušek²,

Dobrovský³

et al. 2020

mendel

View full text Add to dashboard Cite

This work investigates the locomotion efficiency of snake-like robots through evolutionary optimization using the simulation framework PhysX (NVIDIA). The Genetic Algorithm (GA) is used to find the optimal forward head serpentine gait parameters, and the snake speed is taken into consideration in the optimization. A fitness function covering robot speed is based on a complex physics simulation in PhysX. A general serpenoid form is applied to each joint. Optimal gait parameters are calculated for a virtual model in a simulation environment. The fitness function evaluation uses the Simulation In the Loop (SIL) technique, where the virtual model is an approximation of a real snake-like robot. Experiments were performed using an 8-link snake robot with a given mass and a different body friction. The aim of the optimization was speed and length of the trace.

show abstract

Section: Physical Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design

Hůlka¹,

Matoušek²,

Dobrovský³

et al. 2020

mendel

View full text Add to dashboard Cite

show abstract

“…CPG is a neural network that exists in spinal cords of living forms which is utilized as activation signal for muscle contractions. By applying CPG concept as a control mechanism of biomimetic robots, rhythmic locomotion patterns such as walking, crawling and swimming can be generated [1][2][3][4][5][6]. Some CPG models are used for motion control of robots in the literature.…”

Section: Introductionmentioning

confidence: 99%

A Studyof Hopf and Amplitude-ControlledPhase Oscillators for Snake Robot Locomotion

Karacol

Korkmaz

Koca

et al. 2019

ijisae

View full text Add to dashboard Cite

In this paper, a snake-like robot locomotion control is proposed with Center Pattern Generators (CPGs). The snake robot is designed in SolidWorks environment and composed of a head, seven-link propulsion mechanism and a tail connected to the last link. The designed model is also adapted to Matlab/SimMechanics environment in order to observe two-dimensional motion and analyze the constructed CPG networks. The CPG networks are carried out with Amplitude-Controlled Phase (ACP) and Hopf oscillators to create rhythmic, stable, oscillatory and robust locomotion patterns. Both CPG structures are constructed with bidirectional chain models. In order to analyze the locomotion of the snake-like robot, S-type forward and C-type turning motions are performed. The simulation results show that ACP oscillator with bidirectional chain network structure gives effective, smooth and robust control performance for both forward and turning motions of the snake robot. Thus, a base of more intelligent locomotion control approach with ACP oscillator is provided and some critical comparisons are performed.

show abstract

Centipede bio-extremity elastic model control

Guaderrama

Martínez‐García

2021

J Micro-Bio Robot

View full text Add to dashboard Cite

Bio-inspired snake robot locomotion: A CPG-based control approach

Cited by 4 publications

References 10 publications

Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design

Optimization of Snake-like Robot Locomotion Using GA: Serpenoid Design

A Studyof Hopf and Amplitude-ControlledPhase Oscillators for Snake Robot Locomotion

Centipede bio-extremity elastic model control

Contact Info

Product

Resources

About