| Summary: | 碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 97 === The purpose of this paper is to implement differentiable gaits of pitch-yaw connecting snake robots through investigating the coordinates of each joints and the motion of ground points based on the central pattern generator (CPG) model. Six different gaits, i.e., rectilinear, turning, slithering, lateral shift, rotating and rolling gaits, have been analyzed and implemented on a real snake robot, which consists of 16 joints. Using CPG model to implement the gaits of snake robots can simplify thecontrol, accelerate the computational speed and smooth the movements. A new rule for the parameter setting of rotating gait was proposed for snake robots with different length and different number of joints. Finally, a procedure for the gaits determination of those differentiable gaits, based on CPG, has been developed. Thus the gaits of snake robots can be generated more systematically and efficiently.
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