Biomimetic motion control system using CPG for a multi link mobile robot

Robots and robotics technologies are expected as new tools, especially in the extreme environments where are very dangerous to access directly by human beings such as underwater environments, volcanic areas, nuclear power plants, etc. Robots for such the extreme environments should be robust and strong enough to disturbance and breakdowns. We can find out a solution to realize robust robot system from interesting approaches in creatures. Animals adapt well to environmental changes in both short and long time periods. On nervous systems of animals, it becomes clear that motion patterns, such as walking, respiration, flap, etc, are controlled by rhythm generator mechanisms called the central pattern generator (CPG). In this paper, a robot motion control system using CPG is proposed and applied to a multi link mobile robot.