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

Takahide Sato, Takeshi Kano, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages1881-1886
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

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

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