Snake Robot Controlled by Biomimetic CPGs

Abstract

The design of biomimetic robot is one popular research. To achieve this goal, the reproduction of animal locomotion is mandatory. Animal locomotion is created by the activities of Central Pattern Generator (CPG). CPGs are neural networks capable of producing rhythmic patterned outputs without rhythmic sensory or central input. We propose a network of several biomimetic CPGs using biomimetic neuron model and synaptic plasticity. This network is implemented on a field programmable gate array. We designed one unsupervised snake robot using this network of CPG. It is composed of one head wagon followed by seven slave wagons. Infrared sensors are also embedded in the head wagon. This robot can reproduce the locomotion of one snake.