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Author(s):
Zhenshan Bing; Long Cheng; Kai Huang; Mingchuan Zhou; Alois Knoll 
Title:
A CPG-based Control Architecture for 3D Locomotion of a snake-like robot 
Abstract:
In this paper, a biologically inspired control architecture for a snake-like robot is proposed to achieve 3D locomotion and realize continuously free gait transition. Based on a novel central pattern generator(CPG) model, which is achieved from the perspective of network synchronization, the control architecture integrates three functional parts. First, following the convergence behavior of the gradient system, a new CPG model is presented to adjust the signals' amplitudes and phase differen...    »
 
Year:
2016 
Language:
en