Rhythmic control method of a worm robot based on neural CPG

Wang, Xingjian; Zhang, Qing; Zhang, Yixin; Wang, Shaoping

doi:10.1109/iciea.2018.8397876

Cited by 7 publications

(6 citation statements)

References 10 publications

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“…At this point, the development of the robot focused mainly on the speed and efficiency of movement or COT. In recent years, structures such as linkage mechanisms ( Horchler et al, 2015 ; Wang et al, 2018b ; Kandhari et al, 2021 ) can be used to mimic the movement of the earthworm with good efficiency through one structure. The motion gait of robots with such structure is very similar to that of the actual earthworm, both having continuous and consistent features.…”

Section: Discussionmentioning

confidence: 99%

“…For instance, Luo et al designed a robot using morphing structures ( Luo et al, 2022 ) that delivered a competitive locomotion speed both in absolute speed (122.4 mm s –1 ) and body lengths per minute (4.67–9.42). The outer mesh ( Boxerbaum et al, 2011 ; Daltorio et al, 2013 ; Wang et al, 2018b ) and its derivatives ( Horchler et al, 2015 ) proposed by Horchler et al provided an evolution in the simulation of earthworm. Instead of containing discrete body segments, this structure makes the robot a whole, and facilitates continuous and consistent actuation.…”

Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

“…Moreover, this structure exhibits wave-shaped variations ( Zhou et al, 2016 ) that are extremely similar to real earthworms. The robot shown in Figure 13B designed by Wang et al ( Wang et al, 2018b ) can achieve a speed of 0.01 bl·s –1 on flat pavements.…”

Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

“…with permission. (B) Prototype of worm robot controlled by central pattern generator ( Wang et al, 2018b ). Reproduced from Ref.…”

Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

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Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

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Currently, soft robotics technologies are creating the means of robotic abilities and are required for the development of biomimetic robotics. In recent years, earthworm-inspired soft robot has garnered increasing attention as a major branch of bionic robots. The major studies on earthworm-inspired soft robots focuses on the deformation of the earthworm body segment. Consequently, various actuation methods have been proposed to conduct the expansion and contraction of the robot’s segments for locomotion simulation. This review article aims to act as a reference guide for researchers interested in the field of earthworm-inspired soft robot, and to present the current state of research, summarize current design innovations, compare the advantages and disadvantages of different actuation methods with the purpose of inspiring future innovative orientations for researchers. Herein, earthworm-inspired soft robots are classified into single- and multi-segment types, and the characteristics of various actuation methods are introduced and compared according to the number of matching segments. Moreover, various promising application instances of the different actuation methods are detailed along with their main features. Finally, motion performances of the robots are compared by two normalized metrics-speed compared by body length and speed compared by body diameter, and future developments in this research direction are presented.

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Section: Discussionmentioning

confidence: 99%

Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

“…with permission. (B) Prototype of worm robot controlled by central pattern generator ( Wang et al, 2018b ). Reproduced from Ref.…”

Section: Multi-segment Earthworm-inspired Soft Robotsmentioning

confidence: 99%

See 2 more Smart Citations

Actuation and design innovations in earthworm-inspired soft robots: A review

Liu

Zuo

2023

Front. Bioeng. Biotechnol.

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“…The ideal robotic application for a minimal CPG is one whose locomotion is produced by rhythmic activity, but which does not need high-bandwidth control logic to stay upright. Past researchers have fulfilled this requirement with a variety of different statically stable robotic systems, in particular many different types of modular robots [34][35][36][37]. In this vein, the robotic application for our CPG is a modular robot constructed from volumetric pixels [38].…”

Section: The Robot and Its Gaitmentioning

confidence: 99%

Spiking neural state machine for gait frequency entrainment in a flexible modular robot

et al. 2020

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We propose a modular architecture for neuromorphic closed-loop control based on bistable relaxation oscillator modules consisting of three spiking neurons each. Like its biological prototypes, this basic component is robust to parameter variation but can be modulated by external inputs. By combining these modules, we can construct a neural state machine capable of generating the cyclic or repetitive behaviors necessary for legged locomotion. A concrete case study for the approach is provided by a modular robot constructed from flexible plastic volumetric pixels, in which we produce a forward crawling gait entrained to the natural frequency of the robot by a minimal system of twelve neurons organized into four modules.

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Adaptive walking control for quadruped robot by using oscillation patterns

Zhang,

Qian,

Ding

et al. 2023

Sci Rep

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To improve the adaptability of quadruped robot in multiple scenarios, an adaptive locomotive system based on the double-layered central pattern generator (CPG) is proposed. The novel CPG network consists of double master units and subsets of slave units based on gyroscope signals including yaw and pitch angle. The response of master units provides the ability to control the 1st joins of quadruped robot, while slave units can generate the symmetry signals to control the 2nd and 3rd joints. The CPG network enables the seamless switching of locomotion gaits to stops and starts by using an ultrasonic sensor. Through adjusting the mutually dependent parameters, joints can generate the joint angles to achieve steering behavior. For adaptive movement on an irregular surface, stable ranges of the robot body yaw and pitch angles are proposed by using gyroscope signals. The experimental results verify that the quadruped robot with the proposed double-layered CPG network can perform stable trot pattern in a complex environment.

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Rhythmic control method of a worm robot based on neural CPG

Cited by 7 publications

References 10 publications

Actuation and design innovations in earthworm-inspired soft robots: A review

Actuation and design innovations in earthworm-inspired soft robots: A review

Spiking neural state machine for gait frequency entrainment in a flexible modular robot

Adaptive walking control for quadruped robot by using oscillation patterns

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