Flexible Entrainment in a Bio-inspired Modular Oscillator for Modular Robot Locomotion

Herrero-Carrón, Fernando; Rodríguez, Francisco B.; Varona, Pablo

doi:10.1007/978-3-642-21498-1_67

Cited by 1 publication

(2 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The greater flexibility and robustness of the CPG network could result in more general design strategies for autonomous locomotion [8]. Ma [7] developed an activation function in the CPG model to control the body shape and validated the effectiveness by simulating the joints' torque.…”

Section: Related Workmentioning

confidence: 99%

“…As a promising solution for smooth gait transition, the CPG-based control method can generate smoothly self-adjusted rhythmic signals for cyclic motions, particularly suitable for snake-like robots with redundant degrees of freedom [8]. Although several CPG-based methods have been adopted to control the planar movement of snake-like robots under several gaits [7,9,10], the effectiveness of such methods to smooth the 3D slithering gait transition of snake-like robots has not yet been fully studied.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot

et al. 2017

View full text Add to dashboard Cite

Snake-like robots with 3D locomotion ability have significant advantages of adaptive travelling in diverse complex terrain over traditional legged or wheeled mobile robots. Despite numerous developed gaits, these snake-like robots suffer from unsmooth gait transitions by changing the locomotion speed, direction, and body shape, which would potentially cause undesired movement and abnormal torque. Hence, there exists a knowledge gap for snake-like robots to achieve autonomous locomotion. To address this problem, this paper presents the smooth slithering gait transition control based on a lightweight central pattern generator (CPG) model for snake-like robots. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time was designed and compared with other widely adopted CPG models. Then, by reshaping the body into a more stable geometry, the slithering gait was modified, and studied based on the proposed CPG model, including the gait transition of locomotion speed, moving direction, and body shape. In contrast to sinusoid-based method, extensive simulations and prototype experiments finally demonstrated that smooth slithering gait transition can be effectively achieved using the proposed CPG-based control method without generating undesired locomotion and abnormal torque.

show abstract

Section: Related Workmentioning

confidence: 99%