Abstract
Robots and robotics technologies are expected to provide new tools for inspection and manipulation, especially in extreme environments that are dangerous for human beings to access directly, such as underwater environments, volcanic areas, or nuclear power plants. Robots designed for such extreme environments should be sufficiently robust and strong to cope with disturbance and breakdowns. We focus on the movement of animals to realize robust robot systems. One approach is to mimic the nervous systems of animals. The central pattern generator of a nervous system has been shown to control motion patterns, such as walking, respiration and flapping. In this paper, a robot motion control system using a central pattern generator is proposed and applied to an amphibious multi-link mobile robot.
Similar content being viewed by others
References
Hirose S. Bionic Machine Engineering, Kougyo Chosakai, Tokyo, 1987. (in Japanese)
Mori M, Yamada H, Hirose S. Design and development of active cord mechanism “ACM-R3” and its 3-dimentional locomotion control. Journal of RSJ, 2005, 23, 886–897. (in Japanese)
Azuma A. The Subject-book of Animal’s Motion, Asakura, Tokyo, 1997.
Matsuoka K. Sustained oscillations generated by mutually inhibiting neurons with adaptation. Biological Cybernetics, 1985, 52, 367–376.
Matsuoka K. Mechanisms of frequency and pattern control in the neural rhythm generators. Biological Cybernetics, 1987, 56, 345–353.
Terman D, Wang D L. Global competition and local cooperation in a network of neural oscillators. Physica D, 1995, 81, 148–176.
Wilson H R, Cowan J D. Excitatory and inhibitory Interactions in localized populations of model neurons. Biophysical Journal, 1972, 12, 1–24.
Matsuo T, Yokoyama T, Ishii K. Development of neural oscillator based motion control system and applied to snake-like robot. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, 2007, 3697–3702.
Matsuoka K, Ohyama N, Watanabe A, Ooshima M. A giant swing robot using a neural oscillator. Brain-Inspired IT II, Proceedings of the 2nd International Conference on Braininspired Information Technology, Hibikino, Japan, 2006, 153–156.
Matsuoka K, Ooshima M. A dish-spring robot using a neural oscillator. Brain-Inspired IT III, Proceedings of the 3rd International Conference on Brain-Inspired Information Technology, Hibikino, Japan, 2007, 218–221.
Fukunaga K. Computer Communication and Network (5th ed), Kyoritsu Shuppan, Tokyo, 2002. (in Japanese)
Inada H, Ishii K. Behavior generation of bipedal robot using central pattern generator (CPG), 1st report: CPG parameters searching method by genetic algorithm. Proceedings of IEEE/RSJ Intelligent Robots and System, 2003, 3, 2179–2184.
Williamson M M. Robot Arm Control Exploiting Natural Dynamics, PhD thesis, Massachusetts Institute of Technology, USA, 1999.
Bailey S A. Biomimetic Control with a Feedback Coupled Nonlinear Oscillator: Insect Experiments, Design Tools, and Hexapedal Robot Adaptation Results, PhD thesis, Stanford University, USA, 2004.
Ijspeert A J, Crespi A, Ryczko D, Cabelguen J M. From swimming to walking with a salamander robot driven by a spinal cord model. Science, 2007, 315, 1416–1420.
Inoue K, Ma S, Jin C. Neural oscillator network-based controller for meandering locomotion of snake-like robot. Proceedings of 2004 IEEE International Conference on Robotics and Automation, New Orleans, USA, 2004, 5064–5069.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Matsuo, T., Yokoyama, T., Ueno, D. et al. Biomimetic Motion Control System Based on a CPG for an Amphibious Multi-Link Mobile Robot. J Bionic Eng 5 (Suppl 1), 91–97 (2008). https://doi.org/10.1016/S1672-6529(08)60078-5
Published:
Issue Date:
DOI: https://doi.org/10.1016/S1672-6529(08)60078-5