Citation Context

...n used for controlling swimming robots. Examples include anguilliform swimming of lamprey/eel robots (Arena, 2001; Wilbur, Vorus, Cao, & Currie, 2002; Stefanini et al., 2006; Ijspeert & Crespi, 2007; =-=Crespi & Ijspeert, 2008-=-). Anguilliform swimming implies that forward motion is obtained by a travelling undulation of the elongated body from head to tail. The CPG models are usually inspired from the lamprey swimming circu...

Citation Context

...ed here is capable of swimming, and none is fully autonomous (except for Nereisbot) or amphibious. Also related are anguilliform swimming robots such as lamprey/eel robots [19], [20], [8], [9], [21], =-=[22]-=-, [23], or lobster robots [24]. Finally there are several amphibious robots capable of moving both in water and on ground such as Ariel (an amphibious robot to locate mines, produced by iRobot) and AQ...

Citation Context

...performance for each gait. Recently, some researchers use central pattern generators (CPGs) for locomotion control of animal-like robots [28]-[30]. CPGs are neural networks capable of producing coordinated patterns of rhythmic activity without any rhythmic inputs from sensory feedback or from higher control centers. Ijspeert presented swimming and walking locomotion of salamander [23]. Kimura realized quadruped walking robot adaptable to outdoor environment using a controller with a CPG and reflex arcs [24]. Also, some groups study the control of locomotion of snake-like robots with CPGs [25]-[27]. In the future, we will find a better gait generation approach suitable to our prototype. Not only can the control method generate optima control parameters for a desired gait, but also it can guide us to discover new gaits. 6. CONCLUSIONS In this paper, we describe the electronics architecture of our prototyped robot and its locomotion capabilities. The modular snake robot is implemented by coordinating their internal degrees of freedom. Several gaits have been achieved: forward, backward, lateral shifting, rolling, rotating and gap crossing. We have implemented the gaits mentioned above and...

Citation Context

... robot, we must resolve these coupled dynamics. For this purpose, we propose to exploit the three following recent contributions on this topic: 1◦ ) the Central Pattern Generator (CPG) by Crespi & al =-=[4]-=- for the locomotion control; 2 10 10 ◦ ) the recursive algorithms based on the Newton-Euler (N-E)’s equations by Khalil & al [5] for the robot dynamic modeling; 3◦ ) the analytical hydrodynamic model ...

Citation Context

... [24], Kimura et al. [38], the hexapod robots by Arena et al. [3, 4], Inagaki et al. [34, 35] and in our previous works [42, 51, 46]. Bio-inspired amphibious robots [44, 33, 11] and snake-like robots =-=[10]-=- also employed this kind of control strategy. Further details on CPG-based locomotion control have been reviewed in Ijspeert [32]. CPG-based locomotion is directly inspired by the way animals control ...

Citation Context

...manoeuvrable has led to the design of a new generation of underwater robots inspired by fish [Barrett, 1996; McIsaac and Ostrowski, 2003; Yu et al., 2004; Yamada et al., 2005; Morgansen et al., 2007; =-=Crespi and Ijspeert, 2008-=-; Boyer et al., 2008; Liu and Hu, 2010; Salumäe and Kruusmaa, 2011; Stefanini et al., 2012]. Whether it be for mechanical design or for control, researchers involved in the field need efficient ∗M. Po...

Citation Context

...n addition to computer simulations, robots have become effective tools for testing hypotheses of locomotor mechanisms and control systems by demonstrating real-world dynamic characteristics [5], [6], =-=[19]-=-, [23], [27], [29], [33], [39], [44], [48], [56], [62], [67]. Physiological evidence suggests that central pattern generators (CPGs) in the spinal cord strongly contribute to rhythmic limb movement, s...

Citation Context

...tion to CPGs. With the perturbation,sthe system can continuously converge to a new stablesstate and the output of the oscillator keeps smooth owingsto the limit cycle property of the nonlinear systems=-=[26]-=-.sSuch an advantage provides an interface for higher levelsoptimization algorithms (such as GA) to perform theson-line tuning of CPG parameters.sJournal of Bionic Engineering (2014) Vol.11 No.2 216sHo...

Citation Context

...s) can also lead to robust insect locomotion (Cruse et al., 1995). CPGs have also been used for controlling swimming robots. Examples include anguilliform swimming of lamprey/eel robots (Arena, 2001; =-=Crespi & Ijspeert, 2008-=-; Ijspeert & Crespi, 2007; Stefanini, Orlandi, Menciassi, Ravier, Spina, & Grillner, 2006; Wilbur, Vorus, Cao, & Currie, 2002). Anguilliform swimming implies that forward motion is obtained by a trave...