Abstract
CPG (Central Pattern Generator) exist in the brain of animal. It make rhythm for motion of animal. CPG have feature that if we connect many CPG each other, rhythm that outputted from one. It is interesting for distributed control to apply CPG. In this paper, we report about development of distributed robot control system by CPG. We build CPG network, which consists of the Matsuoka neuron model, is introduced to realize the locomotion of a snake robot. We developed CPG servo controller by pic!8f252. We controlled twelve servo motor by CPG.
