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Communication Dans Un Congrès Année : 2019

Snake robot controlled by biomimetic CPGs

Résumé

Locomotion is one of the most basic abilities in animals. Neurobiologists have established that locomotion results from the activity of half-center oscillators that provides alternation of bursts. Central Pattern Generators (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 FPGA (Field Programmable Gate Array). We designed one unsupervised snake robot using this network of CPG. It is composed of one head wagon and 7 slave wagon. Infrared sensors are also embedded in the head wagon. This robot can reproduce the locomotion of one snake. The hardware robot is also described in this paper.
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Dates et versions

hal-02484013 , version 1 (25-02-2020)

Identifiants

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Damien Blanchard, Kazuyuki Aihara, Timothée Levi. Snake robot controlled by biomimetic CPGs. International Conference on Artificial Life and Robotics (ICAROB 2019), Jan 2019, Beppu, Japan. ⟨10.5954/icarob.2019.os2-3⟩. ⟨hal-02484013⟩
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