Snake Robot Controlled by Biomimetic CPGs
- Damien Blanchard1, Kazuyuki Aihara2, Timothée Levi2, *1GEII Deparment, IUT Bordeaux, University of Bordeaux, Talence 33400 France2Institute of Industrial Science (IIS), The University of Tokyo, Meguro-ku, Tokyo 153-8505, Japan*Corresponding author. Email: email@example.com
- Corresponding Author
- Timothée Levi
- https://doi.org/10.2991/jrnal.k.190220.010How to use a DOI?
- Snake robot, CPG, biomimetic, spiking neural network, locomotion
The design of biomimetic robot is one popular research. To achieve this goal, the reproduction of animal locomotion is mandatory. Animal locomotion is created by the activities of Central Pattern Generator (CPG). CPGs are neural networks capable of producing rhythmic patterned outputs without rhythmic sensory or central input. We propose a network of several biomimetic CPGs using biomimetic neuron model and synaptic plasticity. This network is implemented on a field programmable gate array. We designed one unsupervised snake robot using this network of CPG. It is composed of one head wagon followed by seven slave wagons. Infrared sensors are also embedded in the head wagon. This robot can reproduce the locomotion of one snake.
- © 2019 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Damien Blanchard AU - Kazuyuki Aihara AU - Timothée Levi PY - 2019 DA - 2019/04/08 TI - Snake Robot Controlled by Biomimetic CPGs JO - Journal of Robotics, Networking and Artificial Life SP - 253 EP - 256 VL - 5 IS - 4 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.190220.010 DO - https://doi.org/10.2991/jrnal.k.190220.010 ID - Blanchard2019 ER -