Neurally Controlled Steering for Collision-Free Behavior of a Snake Robot

Abstract

Abstract-Biologically inspired snake robots have been widely studied for their various motion patterns. Most research has focused on the design of a controller for a given motion pattern. However, relatively limited work appears to have been done on the design of a controller for self-adaptive locomotion. In this brief, we add sensory inputs to a control system in order to investigate collision avoidance in a snake robot using a neural controller based on central pattern generator. From an analysis of the steering mechanism during serpentine locomotion, we derive a mathematical model of the joint configuration and the steering angle. In a neural oscillator network, steering control can be achieved via the proposed amplitude modulation method by modulating the neural oscillation parameters. A headnavigated motion pattern is employed to allow the range sensors to accurately detect obstacles for collision avoidance. Through the head-navigated locomotion, the head of the snake robot can be controlled to keep the orientation the same as the motion direction. The proposed control method is experimentally verified by application to the SR-I snake robot.Index Terms-Collision-free behavior, neural oscillator, snake robot, steering.

Modular Snake Robot with Mapping and Navigation: Urban Search and Rescue (USAR) Robot

“…A gait design having various parameters that can be expressed or calculated is needed such that path of the snake or its trajectory can be easily manipulated by the end user. By using joint trajectories that are highly tunable, the gait design can then be integrated with the dynamics model to design gaits that are optimal [3].In Fig. 4, small circles are the representations of motors, i.e., servo motors and the big circles indicate the big gear.…”

“…The snake movements have dynamic characteristics that make it capable of crawling in different types of terrains. To design a robot which acts as a real biological snake is very complex with some issues such as [3]. An essential issue is to provide snake's locomotion to the snake robot [1].…”

Towards autonomous locomotion: Slithering gait design of a snake-like robot for target observation and tracking

“…The slithering gait has been investigated for wheeled or wheel-less snake robots [8,9,10]. Wu [9] designed a neural controller by adding sensory inputs to achieve self-adaptive steering for collision-free behavior.…”

“…Wu [9] designed a neural controller by adding sensory inputs to achieve self-adaptive steering for collision-free behavior. Tanaka [10] adopted a curve-based controller for self-collision avoidance, meanwhile maintaining the head position and orientation.…”

Range-Sensor-Based Semiautonomous Whole-Body Collision Avoidance of a Snake Robot

“…Methods of obstacle avoidance for a snake robot have been proposed, such as the central pattern generator with range sensors [14], the artificial potential field and simulated annealing [15], and the tuned serpenoid curve [16]. These methods program the motion of the robot's head to avoid obstacles.…”