The CPG control algorithm for a climbing worm robot

In this paper, we propose a locomotion control algorithm for a climbing worm robot based on neural oscillator network (NON). According to the structure and locomotion feature of the climbing worm robot, the trapezoidal wave gait and triangular wave gait are defined. Then the cyclic inhibitory central pattern generator (CPG) model and mutual inhibitory CPG model are adopted to control the climbing worm robot. Furthermore, by combining the CPG output with the feedback signal from the sucker, the robot realizes the trapezoidal wave gait and triangular wave gait. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.