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A study on cascade design for cpg-based controller of a planar snake robot

The maneuvering of a mobile robot is established based on two fundamental problems: the control of moving directions and the regulation of motion speeds. In the case of snake-like robots, solutions to these problems are hard to be intuitively derived because of the many degrees of freedom resulting from their hyper redundant structures. To overcome this issue, we divide the two fundamental problems into three subproblems which are the creation of snake robots crawling motion, steering this crawling motion, and regulating robots crawling speed, then tackle them in a cascade manner. The foundation of our controller is constructed out of the Central Pattern Generators (CPGs) — a mathematical model of animals nervous system. The significance of our method is that we propose a virtual system which can abstract snake-like robots as a differential-drive wheeled vehicle.