This paper contributes to the fabrication of a snake-like robot in which the motion can be achieved through active wheels. The robot is constructed in such a way that its size can be increased and decreased, as well as it can undulate into a sine wave-like shape. The snake robot with wheels consists of chain of links attached to each other with the help of the passive prismatic and revolute joints. A neural oscillator-based central pattern generator (CPG) algorithm is applied to the robot so that rhythmic serpentine as well as rectilinear motions can be generated in it. In addition, a novel smooth transition mechanics of robot motion, from stationary position to serpentine or rectilinear motion as well as transition between these two gaits, is also suggested in the paper. The working of the formulated CPG motion algorithm is realized through experimental setup equipped with a motion capture system as well as through simulations.

中文翻译：

---

使用带步态转换的中央模式发生器在蛇形机器人中生成蛇形和直线运动

这篇论文有助于制造一个可以通过主动轮实现运动的蛇形机器人。机器人的构造方式使其尺寸可以增加和减少，也可以起伏成正弦波状。带轮子的蛇形机器人由在被动棱柱和旋转关节的帮助下相互连接的链节组成。基于神经振荡器的中央模式生成器 (CPG) 算法应用于机器人，因此可以在其中生成有节奏的蛇形和直线运动。此外，本文还提出了一种新颖的机器人运动平滑过渡机制，从静止位置到蛇形或直线运动以及这两种步态之间的过渡。