Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator

<div>A snake-like robot follows the horizontal line <svg height="11.7782pt" id="M242" style="vertical-align:-3.42938pt" version="1.1" viewbox="-0.0498162 -8.34882 28.8416 11.7782" width="28.8416pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M556 393C556 426 537 448 514 448C496 448 478 435 471 420C468 414 462 401 466 394C473 382 480 368 480 346C480 268 392 143 338 67H336C329 163 319 253 309 330S286 448 254 448C215 448 160 383 127 337L143 311C167 344 200 373 208 373S222 365 229 320C246 214 264 66 268 -20C219 -83 131 -171 17 -239L25 -261L137 -235C248 -110 273 -79 335 8C384 77 481 215 520 287C544 332 556 363 556 393Z"></path></g><g transform="matrix(.013,0,0,-0.013,11.161,0)"><path d="M535 323V373H52V323H535ZM535 138V188H52V138H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.424,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g></svg> controlled by the adaptive LOS law (red) and the LOS law (blue). (a) The trajectory of the CM of the snake-like robot, the black line is reference path. (b) Error accumulation of the snake-like robot following the horizontal line. (c) The energy efficiency accumulation of the snake-like robot following the horizontal line.</div>

Complexity

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Figure 8

Figure 8: Adaptive Path Following and Locomotion Optimization of Snake-Like Robot Controlled by the Central Pattern Generator 