Cascade design for CPG-based control system of planar snake robots

Abstract

The maneuvering of snake-like robots rises many challenges because of the many degrees of freedom (DOFs) of this type of robot. A part from the rational control methods, we exploit the Central Pattern Generators (CPGs) to overcome those challenges in a cascade manner. To be specific, we sequentially create robot motion, steers that motion, and regulates the speed of that motion. In the process of achieving that we also propose a virtual system which can simplify the snake-like robots to a differential drive wheeled vehicle.