Design of a MNSM-based controller for the swimming motion of a snake-like robot

摘要

In order to understand the mechanism of artificial CPG (Central Pattern Generator) neuron system for the locomotion control of snake-like robot, a MNSM (Mirror Neuron System Mechanism)-based controller is developed for swimming locomotion in this paper. In this neuron system, the rhythmic swimming motion generated by CPG neuron network is perceived by another MNSM-based controller, and it generate similar output of the CPG controller to drive the robot to realize the same swimming motion of the robot.