Title :
CPG-based adaptable control of a snake-like robot
Author :
Inoue, Kousuke ; Sumi, Takaaki ; Sato, Norikazu ; Ma, Shugen
Author_Institution :
Ibaraki Univ., Hitachi
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;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421345
