Bio-inspired snake robot locomotion: a CPG-based control approach

Biological creatures perform their motion by using distributed spinal control system. Natural control generates motion instantly based on the feelings from the environment. In line with this concept, an artificial control system is known as Central Pattern Generator (GPG) is an online motion generat...

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Main Authors:	Billah, Md. Masum, Khan, Md. Raisuddin
Format:	Conference or Workshop Item
Language:	English English
Published:	2015
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/49344/ http://irep.iium.edu.my/49344/ http://irep.iium.edu.my/49344/ http://irep.iium.edu.my/49344/1/49344.pdf http://irep.iium.edu.my/49344/4/49344_Bio-inspired%20snake%20robot%20locomotion_SCOPUS.pdf

id	iium-49344
recordtype	eprints
spelling	iium-493442018-03-07T03:26:12Z http://irep.iium.edu.my/49344/ Bio-inspired snake robot locomotion: a CPG-based control approach Billah, Md. Masum Khan, Md. Raisuddin TJ212 Control engineering Biological creatures perform their motion by using distributed spinal control system. Natural control generates motion instantly based on the feelings from the environment. In line with this concept, an artificial control system is known as Central Pattern Generator (GPG) is an online motion generation system that can be generated instantly like spine based control system. CPG also generates online motion instantly. Past control systems were used the predetermined trajectory information to control snake robot. CPG system makes a solution to overcome such kind of predetermined data. Snake robots are generally consists of serially connected multiple links. A rhythmic function is used to model the bending of each link of the snake robot. CPG generates the recurring signal from the input signal by using its internal biological oscillators. Performance of CPG control system is established from the obtained simulation result and planned in snake robot application. This research shows a novel algorithm to generate online sinusoidal motion generation using CPG for planar space. To optimize the CPG parameters, for the optimum output signals, particle swarm optimization (PSO) is applied in this paper. The performances of the proposed method are verified by simulation results. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/49344/1/49344.pdf application/pdf en http://irep.iium.edu.my/49344/4/49344_Bio-inspired%20snake%20robot%20locomotion_SCOPUS.pdf Billah, Md. Masum and Khan, Md. Raisuddin (2015) Bio-inspired snake robot locomotion: a CPG-based control approach. In: 2015 The 5th IEEE National Symposium on Information Technology: Towards Smart World (NCITNSW), 16th-18th Feb. 2015, Riyadh City, Saudi Arabia.. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=7176385 10.1109/NSITNSW.2015.7176385
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Billah, Md. Masum Khan, Md. Raisuddin Bio-inspired snake robot locomotion: a CPG-based control approach
description	Biological creatures perform their motion by using distributed spinal control system. Natural control generates motion instantly based on the feelings from the environment. In line with this concept, an artificial control system is known as Central Pattern Generator (GPG) is an online motion generation system that can be generated instantly like spine based control system. CPG also generates online motion instantly. Past control systems were used the predetermined trajectory information to control snake robot. CPG system makes a solution to overcome such kind of predetermined data. Snake robots are generally consists of serially connected multiple links. A rhythmic function is used to model the bending of each link of the snake robot. CPG generates the recurring signal from the input signal by using its internal biological oscillators. Performance of CPG control system is established from the obtained simulation result and planned in snake robot application. This research shows a novel algorithm to generate online sinusoidal motion generation using CPG for planar space. To optimize the CPG parameters, for the optimum output signals, particle swarm optimization (PSO) is applied in this paper. The performances of the proposed method are verified by simulation results.
format	Conference or Workshop Item
author	Billah, Md. Masum Khan, Md. Raisuddin
author_facet	Billah, Md. Masum Khan, Md. Raisuddin
author_sort	Billah, Md. Masum
title	Bio-inspired snake robot locomotion: a CPG-based control approach
title_short	Bio-inspired snake robot locomotion: a CPG-based control approach
title_full	Bio-inspired snake robot locomotion: a CPG-based control approach
title_fullStr	Bio-inspired snake robot locomotion: a CPG-based control approach
title_full_unstemmed	Bio-inspired snake robot locomotion: a CPG-based control approach
title_sort	bio-inspired snake robot locomotion: a cpg-based control approach
publishDate	2015
url	http://irep.iium.edu.my/49344/ http://irep.iium.edu.my/49344/ http://irep.iium.edu.my/49344/ http://irep.iium.edu.my/49344/1/49344.pdf http://irep.iium.edu.my/49344/4/49344_Bio-inspired%20snake%20robot%20locomotion_SCOPUS.pdf
first_indexed	2023-09-18T21:09:47Z
last_indexed	2023-09-18T21:09:47Z
_version_	1777411175616610304

Bio-inspired snake robot locomotion: a CPG-based control approach

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