Indexed by:会议论文

Date of Publication:2017-01-01

Included Journals:CPCI-S

Volume:105

Page Number:588-593

Key Words:Locomotion Patterns; CPG Network Model; Laboratory Simulation; Snake Robot

Abstract:The large number and scales of earthquake disasters have occurred around the world in the past decade. In order to mitigate damages from earthquake disasters, the intelligent rescue systems with high information technology and robot technology have been expected. With the rapid development of rescue robot, snake robots have great potential in the search and rescue operation of the earthquake disasters due to their slim and flexible bodies. In this paper, a novel control method for a snake robot is proposed. Our method can generate different types of locomotion pattern in the complex terrain, and it may employ a central pattern generator (CPG) model based on Hopf oscillators in order to acquire desired locomotion patterns. The simulation results of the proposed method show that the proposed method is feasible.