Adjustment Method of Phase Lag Using Neural Oscillator Network for a Snake-like Robot

Takayuki Matsuo, Takahiro Kakigi, Takashi Sonoda, Kazuo Ishii


This article presents a design method of a phase lag adjustment system using neural oscillators for a snake-like robot. Robots are expected to be new tools for the operations and observations in the extreme environments where human has difficulties for acceding directly. Adaptability of robots is one of the important issues. Recently, as the solutions, biomimetic control systems which are inspired by the properties of animals such as brain and nervous systems, motor systems and so on are expected. In this paper, we present an adaptive control system based on CPG and neural oscillators which generates rhythmical signals to control periodical motion of animals. We proposed a motion control system which enables to adjust phase lag of target joint trajectories for a snake-like robot according to changing environments. And, The system has indirectly connections between neural oscillators.


Neural oscillators; Adaptive Control Systems; Biomimetics

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