Title :
CPG-based control of a simulated snake-like robot adaptable to changing ground friction
Author :
Inoue, Kousuke ; Sumi, Takaaki ; Ma, Shugen
Author_Institution :
Ibaraki Univ., Hitachi
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
In this paper, development of a CPG-based controllers for meandering locomotion of a snake-like robot that can adapt to changing friction is presented. The controllers are composed of two kinds of CPG models and receives environmental information from friction force sensors attached on the bottom of the robot. Adaptive CPG parameters are obtained using genetic algorithm with environments with different friction conditions.
Keywords :
force sensors; friction; genetic algorithms; mobile robots; central pattern generation; friction force sensors; genetic algorithm; ground friction; robot locomotion; snake-like robot; Force control; Force sensors; Friction; Intelligent robots; Legged locomotion; Mobile robots; Open loop systems; Orbital robotics; Propulsion; Robot sensing systems; CPG; GA; Snake-Like Robots;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399552
