Review of snake robots in constrained environments
Snake robots have advantages of terrain adaptability over wheeled mobile robots and
traditional articulated robot arms because of their limbless thin body structure and high …
traditional articulated robot arms because of their limbless thin body structure and high …
Locomotion gait control of snake robots based on a novel unified CPG network model composed of Hopf oscillators
X Liu, Y Zang, Z Gao, M Liao - Robotics and Autonomous Systems, 2024 - Elsevier
Snake robots with limbless structure and rich locomotion gaits have been designed and built
for wide application in various fields including military reconnaissance, pipeline operation …
for wide application in various fields including military reconnaissance, pipeline operation …
Spatiotemporal pattern of periodic rhythms in delayed Van der Pol oscillators for the CPG-based locomotion of snake-like robot
Z Song, X Huang, J Xu - Nonlinear Dynamics, 2022 - Springer
This is the further research on the delayed half-center oscillator (DHCO) neural system
presented in our previous paper (Song and Xu in Nonlinear Dyn 108: 2595–2609, 2022 …
presented in our previous paper (Song and Xu in Nonlinear Dyn 108: 2595–2609, 2022 …
CPG-based autonomous swimming control for multi-tasks of a biomimetic robotic fish
This work emphasizes the artificial intelligent control of the developed biomimetic robotic fish
(i-RoF) based on sensory feedback Central Pattern Generator (CPG) approach. In order to …
(i-RoF) based on sensory feedback Central Pattern Generator (CPG) approach. In order to …
A spiking central pattern generator for the control of a simulated lamprey robot running on SpiNNaker and Loihi neuromorphic boards
Central pattern generator (CPG) models have long been used to investigate both the neural
mechanisms that underlie animal locomotion, as well as for robotic research. In this work we …
mechanisms that underlie animal locomotion, as well as for robotic research. In this work we …
Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot
Snake-like robots with 3D locomotion ability have significant advantages of adaptive
travelling in diverse complex terrain over traditional legged or wheeled mobile robots …
travelling in diverse complex terrain over traditional legged or wheeled mobile robots …
Learning to locomote with artificial neural-network and cpg-based control in a soft snake robot
In this paper, we present a new locomotion control method for soft robot snakes. Inspired by
biological snakes, our control architecture is composed of two key modules: A reinforcement …
biological snakes, our control architecture is composed of two key modules: A reinforcement …
Reinforcement learning of CPG-regulated locomotion controller for a soft snake robot
Intelligent control of soft robots is challenging due to the nonlinear and difficult-to-model
dynamics. One promising model-free approach for soft robot control is reinforcement …
dynamics. One promising model-free approach for soft robot control is reinforcement …
Central pattern generator (CPG)-based locomotion control and hydrodynamic experiments of synergistical interaction between pectoral fins and caudal fin for boxfish …
L Chen, Y Cai, S Bi - Biomimetics, 2023 - mdpi.com
Locomotion control of synergistical interaction between fins has been one of the key
problems in the field of robotic fish research owing to its contribution to improving and …
problems in the field of robotic fish research owing to its contribution to improving and …
Review of the latest research on snake robots focusing on the structure, motion and control method
Unlike other types of robots, the snake robot performs unique motions and can move on
various terrains such as gravel, stairs, and pipes. Therefore, snake robots are used as …
various terrains such as gravel, stairs, and pipes. Therefore, snake robots are used as …