Development of a Biomimetic Motion Control System Using CPG

It is very important for mobile robots to realize a robust system in the motion and the structure which is strong enough to disturbance and breakdowns. As one of method for development of robust robot system, there is an approach following architecture of nervous system. In spiral cord of animal rhythm generator mechanism called the Central Pattern Generator (CPG) exists. CPG consists of many neural oscillators with inhibitory connection. Neural oscillators influence each other, and can make rhythmical pattern. In this paper, neural oscillator based motion control system was developed using micro-computer PIC, and applied to motion control of snake-like robot. The robot can move forwards, backwards by changing weights and change direction by adjusting command parameters from the upper layer.