Decentralized control of scaffold-assisted serpentine locomotion that exploits body softness

Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

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

9 Citations (Scopus)

Abstract

Snakes actively utilize irregularities in terrains and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying such functionalities of snakes on the basis of a synthetic approach. We construct a model of a serpentine robot with viscoelastic properties, and we design an autonomous decentralized control scheme that employs local sensory feedback based on the muscle length and strain of the body, the latter of which is generated by the body softness. Simulation results show that the robot exhibits locomotion effectively by utilizing scaffolds such as high-friction areas and pegs, which is in fairly good agreement with biological findings.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages5129-5134
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 2011 May 92011 May 13

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Kano, T., Sato, T., Kobayashi, R., & Ishiguro, A. (2011). Decentralized control of scaffold-assisted serpentine locomotion that exploits body softness. In 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 5129-5134). [5980465] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5980465