A Design Method of CPG Network Using Energy Efficiency to Control a Snake-Like Robot

As increasing the processor performance, new various applications of mobile robots are proposed and evaluated, e.g., the manipulations and observations in the extreme environments where human has difficulties for accessing directly, deep ocean, space, nuclear plants, rescue and service tasks to assist and collaborate human. One of the important issues to be solved is the adaptability to their working environments. In this paper, we propose an adaptive control system using Central Pattern Generator (CPG), which generates rhythmical signals to control periodical motion such as swimming pattern, walking locomotion, heartbeats. The adaptive control system has been developed to control motion of a snake-like robot., and evaluated by changing working environments.