CPG-based Control of a Simulated Snake-like Robot Adaptable to Changing Ground Friction

Abstract

In this paper, development of a CPG-based controllers for meandering locomotion of a snake-like robot that can adapt to changing friction is presented. The controllers are composed of two kinds of CPG models and receives environmental information from friction force sensors attached on the bottom of the robot. Adaptive CPG parameters are obtained using genetic algorithm with environments with different friction conditions.