Development of 18 DOF Salamander Robot Using CPG Based Locomotion for Straight Forward Walk

摘要

The utilization of mechatronics, robotics, and control systems has been widely spread in many areas over the last few decades. Robotics research is widely used for industrial purposes such as wheeled robots and manipulators, but nowadays many researchers have incorporated biomimetic science, often called biorobotics. This paper presents a preliminary research in the field of biorobotics with a robot salamander model that can walk in straight walking using a central pattern generator (CPG). This robot model uses a legged locomotion system that has 18 degrees of freedom (DOF). The CPG based locomotion model is developed for controlling the gait cycle when the robot walks. The motions of joint angle inputs resulted from CPG model is simulated using SimMechanics 3D Animation and implemented on the proposed salamander robot for straight walking. Based on the result in both virtual reality simulation and experimental work using CPG locomotion approach, the predefined joint angle inputs in salamander robot can be used to drive the robot. The proposed CPG locomotion can mimic the walking of a real salamander naturally in straight walk.