DocumentCode
2642596
Title
CPG-based adaptable control of a snake-like robot
Author
Inoue, Kousuke ; Sumi, Takaaki ; Sato, Norikazu ; Ma, Shugen
Author_Institution
Ibaraki Univ., Hitachi
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
2161
Lastpage
2164
Abstract
In this paper, we realized CPG-based controller of a snake-like robot that is adaptable to changing ground fricitonal condition. In the proposed method, the controller is based on Ekeberg´s CPG model and sensory input from frictional force sensors are fed back to CPG. Using parameter optimization by GA, adaptation of meandering locomotion is realized.
Keywords
adaptive control; force sensors; genetic algorithms; mobile robots; adaptable control; frictional force sensors; parameter optimization; snake-like robot; Animals; Control systems; Force sensors; Friction; Intelligent robots; Mobile robots; Oscillators; Robot control; Robot sensing systems; Shape control; CPGs; adaptation; friction condition; snake-like robot;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421345
Filename
4421345
Link To Document