Neural Oscillator Based CPG for Various Rhythmic Motions of Modular Snake Robot with Active Joints

Manzoor, Sajjad; Cho, Young Gil; Choi, Youngjin

doi:10.1007/s10846-018-0864-y

Cited by 16 publications

(9 citation statements)

References 19 publications

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“…However, to overcome environmental irregularities, such as those that are found following disasters, snake robots need to use the optimal gait type according to the terrain, and a complex mathematical model to find the optimal gait type for each terrain is required [12][13][14][15][16]. In addition, a complicated semi-autonomous algorithm is needed to change the optimal gait type based on the terrain after receiving information about the terrain from additional sensors [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

“…There has been no research into the additional mechanisms or body shapes of a snake robot that can help snake robots to move efficiently on steep slopes, like those shown in Figure 1. In addition, the body shape of conventional snake robots is cylindrical or rectangular [1][2][3][4][5][6][9][10][11][12][13][14][15][17][18][19][20][21][22]. For this reason, when the snake robot moves sideways on the steep slope, the robot rolls down, and the stability is highly decreased.…”

Section: Introductionmentioning

confidence: 99%

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Snake Robot with Driving Assistant Mechanism

et al. 2020

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Snake robots are composed of multiple links and joints and have a high degree of freedom. They can perform various motions and can overcome various terrains. Snake robots need additional driving algorithms and sensors that acquire terrain data in order to overcome rough terrains such as grasslands and slopes. In this study, we propose a driving assistant mechanism (DAM), which assists locomotion without additional driving algorithms and sensors. In this paper, we confirmed that the DAM prevents a roll down on a slope and increases the locomotion speed through dynamic simulation and experiments. It was possible to overcome grasslands and a 27 degrees slope without using additional driving controllers. In conclusion, we expect that a snake robot can conduct a wide range of missions well, such as exploring disaster sites and rough terrain, by using the proposed mechanism.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Snake Robot with Driving Assistant Mechanism

et al. 2020

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“…Several CPG-based models are also proposed for biped (De Pina Filho et al, 2006; Habib et al, 2007), quadruped (Collins and Richmond, 1994; Jasni and Shafie, 2013), hexapod (Carvalho et al, 2015; Zhong et al, 2018) and snake (Billah et al, 2015; Manzoor et al, 2018) locomotion and robots. In Dutra et al (2003), for each of the angles in the leg, a Fourier expansion approximation is proposed in each cycle.…”

Section: Introductionmentioning

confidence: 99%

Introducing a nonlinear coupling for central pattern generator: Improvement on robustness by expanding basin of attraction and performance by decreasing the transient time

Bahramian

Nouri

Towhidkhah

et al. 2020

Journal of Vibration and Control

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Different types of models have been introduced for central pattern generators mostly based on coupled nonlinear oscillators. One of the most important responsibilities of a central pattern generators is to make an acceptable phase for each limb to make a stable motion. In nonlinear oscillators, the phase difference is made by means of commensurate coupling between them. Linear coupling between oscillators has been widely used in the literature. It is used to make a suitable phase difference between oscillators appropriate to the kind of motion (e.g. walking and running). In this research, it is shown that there are some coexisting attractors in the same coupling, in which phases between oscillators are not ideal to generate rhythms of motion. Consequently, there will be some undesired oscillator states, in which their functionality is significantly decreased. In this article, a novel nonlinear coupling is introduced as a solution for this problem to have a more robust central pattern generators by tackling inappropriate attractors and expanding the basin of attraction of the suitable attractor. In addition, this nonlinear coupling for central pattern generators cues arrived their steady state 2.8 times faster than central pattern generators with linear ones.

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“…Wang et al implemented locomotion control of a serpentine crawling robot using CPG and a Fuzzy Logic Controller (FLC) [8]. Manzoor et al implemented motion control of a modular robot using the CPG algorithm [9]. These studies focused on the kinematics and morphology of the snake, but did not address the dynamics involving interactions with the ground.…”

Section: Introductionmentioning

confidence: 99%

Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer

et al. 2019

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The purpose of this paper is designing a head control system capable of adapting to passive side-slipping. The environments in which snake-like robots are expected to be utilized generally have ground surface conditions with nonuniform frictional coefficients. In such conditions, the passive wheels of the snake-like robot have a chance of side-slipping. To locomote the snake-like robot dexterously, a control system which adapts to such side-slipping is desired. There are two key points to realizing such a system: First, a dynamic model capable of representing the passive side-slipping must be formulated. A solution for the first key point is to develop a switching dynamic model for the snake-like robot, which switches depending on the occurrence of the side-slipping, by utilizing a projection method. The second key point is to adapt the control system’s behavior to side-slipping. An idea for such a solution is to include the side-slipping velocity in the weighting matrices. An algorithm to estimate the occurrence of side-slipping and the particular side-slipping link is constructed, to formulate the dynamic model depending on the actual side-slipping situation. The effectiveness of the designed Luenberger observer and the head control system for side-slipping adaptation is verified through numerical simulation.

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Neural Oscillator Based CPG for Various Rhythmic Motions of Modular Snake Robot with Active Joints

Cited by 16 publications

References 19 publications

Snake Robot with Driving Assistant Mechanism

Snake Robot with Driving Assistant Mechanism

Introducing a nonlinear coupling for central pattern generator: Improvement on robustness by expanding basin of attraction and performance by decreasing the transient time

Locomotion Control of Snake-Like Robot with Rotational Elastic Actuators Utilizing Observer

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