AmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator
نویسندگان
چکیده
This article presents AmphiBot II, an amphibious snake robot designed for both serpentine locomotion (crawling) and swimming. It is controlled by an on-board central pattern generator (CPG) inspired by those found in vertebrates. The CPG is modelled as a chain of coupled nonlinear oscillators, and is designed to produce travelling waves. Its parameters can be modified on the fly. We present the hardware of the robot and the structure of the CPG, then the systematic parameter tests done in simulation and with the real robot to characterize how the speed of locomotion depends on the parameters determining the frequency, amplitude and wavelength of the body undulation. Keywords— AmphiBot II, amphibious robot, snake robot, central pattern generator, swimming, crawling
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تاریخ انتشار 2006