Generation Undulatory Locomotion of C. elegans in A Crawling Robot via Biomimetic Learning

摘要

This paper investigates generation undulatory locomotion of Caenorhabditis elegans (C. elegans) in a crawling robot via biomimetic learning. Firstly, the anatomy and the morphology of C. elegans are explored. Then, the locomotion of C. elegans is analyzed from cellular level by using dynamic neuron networks (DNNs) and center pattern generations (CPGs). Based on these biological analyses, a biomimetic crawling robot is developed and a digital approximation method is adopted for the robot mimicking the locomotion of C. elegans. Finally, experimental results verify the effectiveness of the robotic system and the motion generation approach.