DocumentCode
2342938
Title
CPG-based control of a simulated snake-like robot adaptable to changing ground friction
Author
Inoue, Kousuke ; Sumi, Takaaki ; Ma, Shugen
Author_Institution
Ibaraki Univ., Hitachi
fYear
2007
fDate
Oct. 29 2007-Nov. 2 2007
Firstpage
1957
Lastpage
1962
Abstract
In this paper, development of a CPG-based controllers for meandering locomotion of a snake-like robot that can adapt to changing friction is presented. The controllers are composed of two kinds of CPG models and receives environmental information from friction force sensors attached on the bottom of the robot. Adaptive CPG parameters are obtained using genetic algorithm with environments with different friction conditions.
Keywords
force sensors; friction; genetic algorithms; mobile robots; central pattern generation; friction force sensors; genetic algorithm; ground friction; robot locomotion; snake-like robot; Force control; Force sensors; Friction; Intelligent robots; Legged locomotion; Mobile robots; Open loop systems; Orbital robotics; Propulsion; Robot sensing systems; CPG; GA; Snake-Like Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location
San Diego, CA
Print_ISBN
978-1-4244-0912-9
Electronic_ISBN
978-1-4244-0912-9
Type
conf
DOI
10.1109/IROS.2007.4399552
Filename
4399552
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