Decentralized control of multi-articular snake-like robot for efficient locomotion

Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

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

3 Citations (Scopus)

Abstract

The mechanism of multi-articular muscles that contributes to the emergence of macroscopic behavior of animals has not been clarified thus far. To address this issue, we focus on the slithering motion of snakes, which have numerous antagonistic muscle-tendon chains that span several tens of vertebrae. From theoretical analyses based on the continuum model, the acceleration of the body in the longitudinal direction is found to be proportional to the number of segments spanned by each muscle. On the basis of this theoretical result, we propose a decentralized control scheme for the efficient locomotion of a multi-articular snake-like robot. We conduct simulations using this control scheme, and the results show that the locomotion efficiency increases as the number of segments spanned by each muscle increases.

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
Pages1875-1880
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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  • Cite this

    Kano, T., Sato, T., Kobayashi, R., & Ishiguro, A. (2011). Decentralized control of multi-articular snake-like robot for efficient locomotion. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 1875-1880). [6048302] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048302