点击次数：

论文类型：期刊论文

发表时间：2017-02-01

发表刊物：JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

收录刊物：SCIE、EI、Scopus

卷号：85

期号：2

页面范围：209-227

ISSN号：0921-0296

关键字：Central pattern generator; Snake robot; Serpentine locomotion; Sidewinding locomotion; Oscillator

摘要：The article focuses on locomotion control of a snake-like robot with cardan joints using a central pattern generator (CPG) approach. A double chain structure of a CPG model is developed based on nonlinear oscillators connected with diffusive couplings. The proposed CPG model has the ability to produce stable rhythmic patterns applied both in the serpentine locomotion and sidewinding locomotion of snake robots. The global exponential stability of the model is also presented using the partial contraction theory. An important point addressed in this paper is that the proposed CPG model has explicit control parameters including not only frequencies of oscillation and amplitudes of oscillation but also phase differences between the neighbor oscillators. The method to adjust the speed and direction of the snake robot during the locomotion is discussed by modulating the control parameters in the proposed CPG model directly. Simulation results together with the experiments on a real snake robot show that the proposed CPG approach can be used to control snake robots successfully.