Adaptive Locomotion of Multibody Snake-like Robot
For robotics researchers working on snake-like robot locomotion, this work provides insights into the inhomogeneous effects of physical constraints on rhythmic control, though the results are preliminary and lack quantitative performance metrics.
This paper presents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom, implemented in simulation and on a real robot. The study found that physical constraints cause inhomogeneous impact on neighbor body segments, which may affect scalability and synchronization of gait pattern generators.
This paper represents an adaptive rhythmic control for a snake-like robot with 25 degrees of freedom. The adaptive gait control is implemented in algorithmic way in simulation and on a real robot. We investigated behavioral and energetic properties of this control and a dynamics of different body segments. It turned out that despite using homogeneous generators, physical constraints have an inhomogeneous impact on neighbor body segments. By analytical modeling of such dynamics, it may result in heterogeneous coupling of oscillators for a rhythmic control and impact scalability and synchronization effects of gait pattern generators.