A Multi-pattern CPG Model for Snake-like Robots

Based on a biological assumption, a multi–pattern CPG model which potentially improves the adaptability of snake-like robots is proposed. At first, we give an assumption of relationship among neural network, muscle groups and locomotion of a real snake. Then, the CPG model is constructed which could generate three patterns of locomotion for snake-like robots. Next, the stability and properties of this model are discussed. Finally, the adaptability of this CPG model is verified on a simulation platform. A similarity is found through the comparison between snake-like robot locomotion and real snake locomotion. This work makes snake-like robots be better adapted to environments.