Adaptive head stabilisation system for a snake-like robot

摘要

Central Pattern Generators (CPGs) have become a popular solution for robot's locomotion control, in particular for snake-like robots. CPGs based on coupled nonlinear oscillators can be integrated with a sensory feedback to adapt the robot's locomotion to the environment or to achieve the desired dynamic characteristics of the movement. In this paper we present an adaptive head stabilisation system for a robotic snake that can adjust parameters of the oscillators to achieve minimal angular and linear motions of the robot's head. This allows to stabilise a video flow that comes from the camera attached to the head. Two head stabilisation systems are designed and the simulation results of the head movement are presented. It is shown that the linear displacement can be minimised by the proposed three oscillator method.