3D Movement of Snake Robot Driven by Tegotae-Based Control

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Snakes possess versatile gait patterns and use them appropriately to adapt to various environments. To reproduce this ability, we have previously proposed a decentralized control scheme for snake robots based on Tegotae, a Japanese concept describing how well a perceived reaction matches an expectation. Here we extend our previous control scheme. Both pitch and yaw joints are embedded in a snake robot, and contact points with the ground as well as lateral bending of the body are controlled by the extended control scheme. We validate the proposed control scheme via real-world experiments with the robot developed.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 8th International Conference, Living Machines 2019, Proceedings
EditorsUriel Martinez-Hernandez, Vasiliki Vouloutsi, Anna Mura, Michael Mangan, Tony J. Prescott, Minoru Asada, Paul F.M.J. Verschure
PublisherSpringer Verlag
Pages346-350
Number of pages5
ISBN (Print)9783030247409
DOIs
Publication statusPublished - 2019
Event8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019 - Nara, Japan
Duration: 2019 Jul 92019 Jul 12

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11556 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019
CountryJapan
CityNara
Period19/7/919/7/12

Keywords

  • Snake robot
  • Tegotae-based control

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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