中文摘要：

针对生物蛇不同步态的运动特点，提出了一种基于Hopf振荡器实现的蛇形机器人的中枢模式发生器（CPG）运动控制方法。首先，利用具有非线性极限环特性的耦合的Hopf振荡器构建出能够实现蜿蜒运动和侧向蜿蜒运动两种步态的链式网络模型。然后，根据动力学仿真软件建立机器人的虚拟样机，利用模型中振荡器的输出作为蛇形机器人分布式多冗余度关节的控制信号来驱动前进，成功实现了以上两种运动方式，并讨论了CPG的模型参数与机器人前进速度的关系。最后，在实物样机上的实验进一步验证了所提出的方法在实现蛇形机器人多种步态控制方面的有效性。

英文摘要：

A central pattern generator （CPG） based locomotion method for a snake robot by Hopf oscillators is developed according to different gait characteristics of biological snake. Firstly, coupled Hopf oscillators with the feature of nonlinear limit cycle are selected to construct a chain network model that can achieve serpentine locomotion and sidewinding loco-motion. Then, a simulated snake robot is created by a dynamics simulation software and is driven by the outputs of the oscillators in the model which are able to generate control signals for distributed redundancy joints of the snake robot. A successful implementation of the two kinds of gaits in simulation environment is demonstrated and the relation between CPG parameters and the forward velocity of the robot is also discussed. Finally, experimental results on a real snake robot confirm the effectiveness of the proposed method to achieve different gaits of the snake robot.