Title : ( Development of a new spinning gait for a planar snake robot using central pattern generators )
Authors: Shahir Hasanzadeh , Alireza Akbarzadeh Tootoonchi ,
Full TextAbstract
In this paper, we first present dynamic equation of n-link snake robot using Lagrange’s method in a simplified2 matrix form and verify them experimentally. Next, we introduce a new locomotion mode called spinning gait. Central pattern generators (CPGs) are used for online gait generation. To realize spinning gait, genetic algorithm is used to find optimal CPG network parameters. We illustrate both theoretically, using derived robot dynamics and experimentally that the CPG-based online gait generation method allows continuous and rather smooth transitions between gaits. Lastly, we present an application where the snake robot is guided11 from an initial to final position while avoiding obstacles by changing CPG parameters
Keywords
Snake robot · Central pattern generator · Serpentine gait · Dynamic · Genetic algorithm
@article{paperid:1033603,
author = {Hasanzadeh, Shahir and Akbarzadeh Tootoonchi, Alireza},
title = {Development of a new spinning gait for a planar snake robot using central pattern generators},
journal = {Intelligent Service Robotics},
year = {2013},
volume = {6},
number = {2},
month = {April},
issn = {1861-2776},
pages = {109--120},
numpages = {11},
keywords = {Snake robot · Central pattern generator · Serpentine gait · Dynamic · Genetic algorithm},
}
%0 Journal Article
%T Development of a new spinning gait for a planar snake robot using central pattern generators
%A Hasanzadeh, Shahir
%A Akbarzadeh Tootoonchi, Alireza
%J Intelligent Service Robotics
%@ 1861-2776
%D 2013
