Design of a snake-like robot controller with cyclic inhibitory CPG model

Snake-like robots that behaves biological snakes' characteristics have possibility to make them supremely adapted for environment. In this paper, we firstly design a snake-like robot controller with cyclic inhibitory CPG model, and then analyze the stability of single neuron, CPG model and the neuron oscillator network (NON). By implementing this control architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot named "Perambulator-I", we present preliminary policies about parameter setting of the CPG controller for serpentine locomotion. Moreover, we show that "Perambulator-I" can successfully exhibit serpentine locomotion by using controller output of the proposed architecture. This paper provides a realistic approach to design an artificial CPG controller