关键词: 蛇形机器人, 蜿蜒运动, 稳定性分析, 循环抑制, 中央模式发生器(CPG)

Abstract: The rhythmic locomotion of a creature is a self-exci- tation behavior of the CPG (Central pattern generator), which makes it supremely adapted for environment. Based on this fact, firstly a snake-like robot controller with cyclic inhibitory CPG model is designed, and then the stability of single neuron, CPG model and the neuron oscillator network (NON) are analyzed. By implementing this control architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot named “Perambulator-I”, preliminary policies for serpentine locomotion about parameter setting of the CPG controller to modulate the number of S shape, the curve of body shape, locomotion velocity and the curve of locomotion trajectory are presented. Moreover, “Perambulator-I” can successfully exhibit serpentine locomotion by using output of the proposed CPG controller. The results provide a realistic approach to design an artificial CPG controller.

Key words: Cyclic inhibition, Stability analysis, Central pattern generator, Serpentine locomotion, Snake-like robot