A Study of Hopf and Amplitude-Controlled Phase Oscillators for Snake Robot Locomotion

  • Serkan Karacol Mechatronics Engineering, Technology Faculty, Firat University, Elazig – 23119, TURKEY.
  • Deniz Korkmaz Electrical and Electronics Engineering, Technology Faculty, Firat University, Elazig – 23119, TURKEY https://orcid.org/0000-0002-5159-0659
  • Gonca Ozmen Koca Mechatronics Engineering, Technology Faculty, Firat University, Elazig – 23119, TURKEY. https://orcid.org/0000-0002-7196-1779
  • Narin Karabulut Mechatronics Engineering, Technology Faculty, Firat University, Elazig – 23119, TURKEY.
Keywords: Center Pattern Generator, Amplitude-Controlled Phase Oscillator, Hopf Oscillator, Snake Robot, Locomotion Control

Abstract

In this paper, we propose a motion control which can produce rhythmic movements of a snake-like robot by using Center Pattern Generator. The snake robot is designed in SolidWorks environment and composed of a head, a propulsion mechanism and a tail connected the last link. The designed model is also adapted to Matlab/SimMechanics environment in order to observe the motion of the robot and analyze the constructed Central Pattern Generator networks. Central Pattern Generator based networks are carried out with Amplitude-Controlled Phase and Hopf oscillators to create rhythmic, stable, oscillatory and robust locomotion patterns. The both network structures are constructed with bidirectional chain models. In order to analyze the locomotion of the snake-like robot, S-type forward and C-type turning motions are performed. The simulation results show that the Amplitude-Controlled Phase oscillator with bidirectional chain network structure gives effective, smooth and robust control performance for both forward and turning motions of the snake robot. Thus, a base of more intelligent locomotion control approach with Amplitude-Controlled Phase oscillator is provided and some critical comparisons are performed.

Downloads

Download data is not yet available.

References

M. R. Khan, and M. M. Billah, “CPG-based control system for flexible snake robot locomotion,” In 2014 IEEE International Symposium on Robotics and Manufacturing Automation, ROMA, Dec. 2014, pp. 254-257.

T. Matsuo, T. Sonoda, and K. Ishii, “A design method of CPG network using energy efficiency to control a snake-like robot,” In 2012 Fifth International Conference on Emerging Trends in Engineering and Technology, Himeji, JAPAN, November 5-7 2012, pp. 287-292.

Z. Lu, Y. Xie, H. Xu, J. Liu, L. Mao, C. Shan, and B. Li, “Design of a MNSM-based controller for the swimming motion of a snake-like robot,” In 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), Shenyang, CHİNA, Jun. 2015, pp. 2050-2055.

C. Tang, S. Ma, B. Li, and Y. Wang, “A cubic CPG model for snake-like robot to adapt to environment,” In 2010 IEEE International Conference on Information and Automation, San Diego, California, USA, Jun. 2010, pp. 24-29,.

T. Matsuo, and K. Ishii, “Development of neural oscillator based motion control system and applied to snake-like robot,” In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, California, USA, Oct. 29-Nov. 2 2017, pp. 3697-3702.

M. M. Billah and M. R. Khan, “Bio-inspired snake robot locomotion: A CPG-based control approach,” In 2015 5th National Symposium on Information Technology: Towards New Smart World (NSITNSW), Riyadh, SAUDİ ARABİA, 17-19 February 2015, pp. 1-6.

Y. Hu, W. Tian, J. Liang, and T. Wang, “Learning fish-like swimming with a CPG-based locomotion controller,” In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, USA, 25 - 30 September 2011, pp. 1863-1868.

Y. Hu, S. Zhang, J. Liang, and T. Wang, “Development and cpg-based control of a biomimetic robotic fish with advanced underwater mobility,” In 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, CHİNA, May. 2014, pp. 813-818.

Y. Hu, J. Liang, and T. Wang, “Parameter synthesis of coupled nonlinear oscillators for CPG-based robotic locomotion,” IEEE Transactions on Industrial Electronics, vol. 61, no. 11, 6183-6191, 2014.

M. H. Kassim, N. Zainal, and M. R. Arshad, “Central Pattern Generator in Bio-inspired Robot: Simulation using MATLAB,” 2008.

X. Wu, and S. Ma, “Neurally controlled steering for collision-free behavior of a snake robot,” IEEE Transactions on Control Systems Technology, vol. 21 no. 6, 2443-2449, 2013.

T. Matsuo, and K. Ishii, “The adjustment system of phase difference using neural oscillator network for a snake-like robot,” In 2012 Proceedings of SICE Annual Conference (SICE), Akita, JAPAN, 20-23 August 2012, pp. 502-507.

X. Wu, and S. Ma, “CPG-based control of serpentine locomotion of a snake-like robot,” Mechatronics, vol. 20, no. 2, 326-334, 2010.

T. Matsuo, and K. Ishii, “Adaptive motion control system of a snake-like robot using a neural oscillator network,” In 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems (SCIS) and 15th International Symposium on Advanced Intelligent Systems (ISIS), Kita-Kyushu, JAPAN, 3-6 December 2014, pp. 253-258.

N. M. Nor, and S. Ma, “A simplified CPGs network with phase oscillator model for locomotion control of a snake-like robot,” Journal of Intelligent & Robotic Systems, vol. 75, no. 1, 71-86, 2014.

K. Yang, “Dynamic model and CPG network generation of the underwater self-reconfigurable robot,” Advanced Robotics, vol. 30, no. 14, 925-937, 2016.

N. M. Nor, and S. Ma, “CPG-based locomotion control of a snake-like robot for obstacle avoidance,” In 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, CHİNA, 31 May–7 June 2014, pp. 347–352.

N. Sergiienko, and L. Chen, “Adaptive head stabilisation system for a snake-like robot,” In Proceedings of Australasian Conference on Robotics and Automation, AUSTRALİA, Dec. 2014, pp. 1-7.

Z. Wang, Q. Gao, and H. Zhao, “CPG-inspired locomotion control for a snake robot basing on nonlinear oscillators,” Journal of Intelligent & Robotic Systems, vol. 85, no. 2, 209-227, 2017.

Published
2019-09-30
How to Cite
[1]
S. Karacol, D. Korkmaz, G. Ozmen Koca, and N. Karabulut, “A Study of Hopf and Amplitude-Controlled Phase Oscillators for Snake Robot Locomotion”, IJISAE, vol. 7, no. 3, pp. 153-158, Sep. 2019.
Section
Research Article