Modeling of systems that imitate biologically similar movements of a fish robot and a snake robot

The use of central rhythm generators (CPGs) as control systems has recently received more and more attention. Such systems allow us to solve the problem of path prediction. They have higher stability. However, there are a number of problems in designing successful and working systems such as a real robot -CPG. For example, it is necessary to synchronize the operating time of the CPG model and the actuator. There are also difficulties with using CPG on different robots. Even when modeling robots with similar prototypes: fish, salamanders, snakes, it is necessary not only to change the number of segments of the control system to control the actuators, but also to completely change the operating parameters of the CPG for proper interaction with the environment. Next, we demonstrate a CPG capable of controlling a virtual robot fish and a ground robot snake. The model is capable of moving forward and turning left and right. It is possible to connect external sensors to transmit information about an obstacle to the system and perform a turn under its influence.