With the advancement of science and technology and the importance of using robots, the need to use automated systems seems essential. Since most applications of snake robots move in unfamiliar and sometimes complex environments, there is a need to develop different cont
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With the advancement of science and technology and the importance of using robots, the need to use automated systems seems essential. Since most applications of snake robots move in unfamiliar and sometimes complex environments, there is a need to develop different control methods for them. The product of the integration of the two sciences of neuroscience and robotics, are motor neuron producers known as model central generators, which is the problem of producing motion in the robot. In this paper, we control the movement of a snake-like robot with a central pattern generator (CPG) that is able to produce coordinated patterns of output signals with different frequencies. For this purpose, it is necessary to model the snake robot first and then apply control Be. In this paper, the control of robot motion control in two modes of open loop and closed loop for CPG network is presented. At the same time, this study with simulations shows that the lower the level of stimulation and the lower its level, the lower the frequency of motion production and vice versa. Then, the effect of CPG models, which are used as neural networks, is simulated in motion control. In this paper, the remarkable point in comparison with other controllers is that in the central generating neural networks, the pattern of simple signals is sufficient to stimulate and induce the movement of robots, which is shown in the simulation
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