Smooth transition of the CPG-based controller for snake-like robots

Nature snakes vary their gaits flexibly according to different terrains, so it is significant for snake-like robots to incorporate more available locomotion patterns and switch gaits smoothly for good adaptability. In this paper, a bionic joint mechanism with parallel links and active orthogonal omni-wheel is designed, and a novel central pattern generator (CPG) architecture is proposed. A sine approach is used in the modulation of CPG parameters to avoid stiff impulses. Moreover, the method also can be applied in the beginning stage to improve the motion effectiveness and save energy. Simulation results are presented to illustrate the effectiveness of the proposed smooth transition method.

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