Steering motion control of a snake robot via a biomimetic approach

作     者：Wenjuan OUYANG Wenyu LIANG Chenzui LI Hui ZHENG Qinyuan REN Ping LI 

作者机构：State Key Laboratory of Industrial Control Technology Zhejiang University Department of Electrical and Computer Engineering National University of Singapore Zhejiang University of Science and Technology 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2019年第20卷第1期

页      面：32-44页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Project supported by the Zhejiang Provincial Natural Science Foundation of China(No.LQ16F030002) 

主　　题：Snake robot Central pattern generator Cerebellar model articulation controller 

摘      要：We propose a biomimetic approach for steering motion control of a snake robot. Inspired by a vertebrate biological motor system paradigm, a hierarchical control scheme is adopted. In the control scheme, an artificial central pattern generator(CPG) is employed to generate serpentine locomotion in the robot. This generator outputs the coordinated desired joint angle commands to each lower-level effector controller, while the locomotion can be controlled through CPG modulation by a higher-level motion controller. The motion controller consists of a cerebellar model articulation controller(CMAC) and a proportional-derivative(PD) controller. Because of the fast learning ability of the CMAC, the proposed motion controller can drive the robot to track the desired orientation and adapt to unexpected perturbations. The PD controller is employed to expedite the convergence speed of the motion controller. Finally, both numerical studies and experiments proved that the proposed approach can help the snake robot achieve good tracking performance and adaptability in a varying environment.