Generation of a forward motion for a 13-link semi-looper robot

The motion pattern generation of the 13-link semi-looper robot is discussed in this paper. The semi-looper robot can perform both motion patterns of a green caterpillar and a looper. It is adopted so that the serial link mechanism may achieve the semi-looper robot. A central pattern generator (CPG) is introduced to generate the motion pattern of the 13-link semi-looper robot. The CPG is composed of Matsuoka oscillators. The CPG´s structure and design parameters of Matsuoka oscillators are discussed. Some simulations using the open dynamics engine (ODE) demonstrate the designed motion pattern of the 13-link semi-looper robot.