CPG-controlled asymmetric locomotion of a snake-like robot for obstacle avoidance

To realize the obstacle avoidance of a snake-like robot in unstructured environment, an asymmetric locomotion of snake-like robot is introduced. Imitating from the locomotion of natural snakes, the turn motion and the round motion of the snake-like robot are analyzed respectively. A CPG-based control system with parameter-transmitting characteristics is developed for control of the asymmetric locomotion. To verify the proposed control approach, both simulation and experiment of the snake-like robot for avoidance of an obstacle have been carried out.