Neural oscillator network-based controller for meandering locomotion of snake-like robots

Abstract

In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot, we present realization of meandering motion and preliminary policies about parameter settings of the NON. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.