TY - GEN
T1 - A snake-like robot driven by a decentralized control that enables both phasic and tonic control
AU - Sato, Takahide
AU - Kano, Takeshi
AU - Ishiguro, Akio
PY - 2011/12/29
Y1 - 2011/12/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84455206507&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2011.6048245
DO - 10.1109/IROS.2011.6048245
M3 - Conference contribution
AN - SCOPUS:84455206507
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1881
EP - 1886
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -