A snake-like robot driven by a decentralized control that enables both phasic and tonic control

Takahide Sato; Takeshi Kano; Akio Ishiguro

doi:10.1109/IROS.2011.6048245

A snake-like robot driven by a decentralized control that enables both phasic and tonic control

Takahide Sato, Takeshi Kano, Akio Ishiguro

Human Information Systems Division

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

Autonomous decentralized control is a key concept in our understanding of the mechanism underlying locomotion of animals, wherein the phasic pattern of motion and the excitation pattern of muscle tonus are well reconciled. In our recent work, we proposed a decentralized control scheme in which phasic control and tonic control are well coordinated. In this study, we develop a real snake-like robot to validate our proposed control scheme. Experimental results show that the robot exhibits highly adaptive behavior in response to environmental changes. The results obtained are expected to shed new light on the design of autonomous decentralized control systems.

Original language	English
Title of host publication	IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Celebrating 50 Years of Robotics
Pages	1881-1886
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2011.6048245
Publication status	Published - 2011 Dec 29
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States Duration: 2011 Sep 25 → 2011 Sep 30

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Other

Other	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country	United States
City	San Francisco, CA
Period	11/9/25 → 11/9/30

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2011.6048245

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Sato, T., Kano, T., & Ishiguro, A. (2011). A snake-like robot driven by a decentralized control that enables both phasic and tonic control. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 1881-1886). [6048245] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048245

A snake-like robot driven by a decentralized control that enables both phasic and tonic control. / Sato, Takahide; Kano, Takeshi ; Ishiguro, Akio.

IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 1881-1886 6048245 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sato, T, Kano, T & Ishiguro, A 2011, A snake-like robot driven by a decentralized control that enables both phasic and tonic control. in IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics., 6048245, IEEE International Conference on Intelligent Robots and Systems, pp. 1881-1886, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11, San Francisco, CA, United States, 11/9/25. https://doi.org/10.1109/IROS.2011.6048245

Sato T, Kano T , Ishiguro A. A snake-like robot driven by a decentralized control that enables both phasic and tonic control. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. 2011. p. 1881-1886. 6048245. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048245

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