CPG-based control system for flexible snake robot locomotion

Central Pattern Generator (GPG) is an online motion generation system that reduces the memory size of the controller. Past control systems were used predetermined motion data to control snake robot. CPG system makes a solution to overcome such kind of predetermined data. Snake robots are generally c...

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Main Authors:	Khan, Md. Raisuddin, Billah, Md. Masum
Format:	Conference or Workshop Item
Language:	English English English
Published:	2014
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/41291/ http://irep.iium.edu.my/41291/ http://irep.iium.edu.my/41291/1/IEEE_ROMA2014_Proceedings_Paper.pdf http://irep.iium.edu.my/41291/2/presentation_schedule.pdf http://irep.iium.edu.my/41291/7/Proceeding_Cover.pdf

id	iium-41291
recordtype	eprints
spelling	iium-412912015-02-16T09:26:48Z http://irep.iium.edu.my/41291/ CPG-based control system for flexible snake robot locomotion Khan, Md. Raisuddin Billah, Md. Masum TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Central Pattern Generator (GPG) is an online motion generation system that reduces the memory size of the controller. Past control systems were used predetermined motion data to control snake robot. CPG system makes a solution to overcome such kind of predetermined data. Snake robots are generally consist of serially connected multiple links. An intervallic function is used to model the bending of each link of the snake robot. CPG can generate this intervallic function. CPG generates the recurring signal from the input signal by using its internal biological oscillators. Each of the links of the flexible snake robot performs bending to produce motion using proposed neural oscillator of CPG system. Performance of CPG control system is established from the obtained simulation results and planned in snake robot application. This research shows a novel algorithm to generate online serpentine motion generation using CPG for even terrain locomotion provided that snakes are constructed with flexible links. 2014 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/41291/1/IEEE_ROMA2014_Proceedings_Paper.pdf application/pdf en http://irep.iium.edu.my/41291/2/presentation_schedule.pdf application/pdf en http://irep.iium.edu.my/41291/7/Proceeding_Cover.pdf Khan, Md. Raisuddin and Billah, Md. Masum (2014) CPG-based control system for flexible snake robot locomotion. In: 2014 IEEE International Symposium on Robotics and Manufacturing Automation (ROMA2014), 15th-16th December 2014, Kuala Lumpur. http://www.ieee-ras.com/roma2014.php
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
spellingShingle	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Khan, Md. Raisuddin Billah, Md. Masum CPG-based control system for flexible snake robot locomotion
description	Central Pattern Generator (GPG) is an online motion generation system that reduces the memory size of the controller. Past control systems were used predetermined motion data to control snake robot. CPG system makes a solution to overcome such kind of predetermined data. Snake robots are generally consist of serially connected multiple links. An intervallic function is used to model the bending of each link of the snake robot. CPG can generate this intervallic function. CPG generates the recurring signal from the input signal by using its internal biological oscillators. Each of the links of the flexible snake robot performs bending to produce motion using proposed neural oscillator of CPG system. Performance of CPG control system is established from the obtained simulation results and planned in snake robot application. This research shows a novel algorithm to generate online serpentine motion generation using CPG for even terrain locomotion provided that snakes are constructed with flexible links.
format	Conference or Workshop Item
author	Khan, Md. Raisuddin Billah, Md. Masum
author_facet	Khan, Md. Raisuddin Billah, Md. Masum
author_sort	Khan, Md. Raisuddin
title	CPG-based control system for flexible snake robot locomotion
title_short	CPG-based control system for flexible snake robot locomotion
title_full	CPG-based control system for flexible snake robot locomotion
title_fullStr	CPG-based control system for flexible snake robot locomotion
title_full_unstemmed	CPG-based control system for flexible snake robot locomotion
title_sort	cpg-based control system for flexible snake robot locomotion
publishDate	2014
url	http://irep.iium.edu.my/41291/ http://irep.iium.edu.my/41291/ http://irep.iium.edu.my/41291/1/IEEE_ROMA2014_Proceedings_Paper.pdf http://irep.iium.edu.my/41291/2/presentation_schedule.pdf http://irep.iium.edu.my/41291/7/Proceeding_Cover.pdf
first_indexed	2018-09-07T06:13:50Z
last_indexed	2018-09-07T06:13:50Z
_version_	1610928180310310912

CPG-based control system for flexible snake robot locomotion

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