This video shows an amphibious snake robot controlled by a CPG model doing different swimming and crawling sequences. It illustrate interactive control of speed and direction by a human operator. it also shows a transition from crawling to swimming.

The video goes together with the article "Online trajectory generation in an amphibious snake robot
using a lamprey-like central pattern generator model" by Auke Jan Ijspeert and Alessandro Crespi in the ICRA2007 proceedings.


Contact:
A. Crespi and A.J. Ijspeert
School of Computer and Communication Sciences, 
EPFL (Ecole Polytechnique Federale de Lausanne), 
CH 1015 Lausanne, Switzerland 
alessandro.crespi@epfl.ch,
auke.ijspeert@epfl.ch

See also
http://birg.epfl.ch