Decentralized control of serpentine locomotion that enables well-balanced coupling between phasic and tonic control

Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

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

2 Citations (Scopus)

Abstract

Decentralized control is a key concept to understand the mechanism of versatile and adaptive locomotion of animals under various environments. However, a systematic design of an autonomous decentralized control system has not been well established, because previous studies mainly focused on the control of phase relationship among body parts, i.e., phasic control, but not on the control of the spatio-temporal dynamics of muscle tonus, i.e., tonic control. In this paper, we propose a decentralized control scheme that enables to reconcile phasic control and tonic control, by taking serpentine locomotion as a practical example. Through modeling and simulations, we show that well-balanced coupling between the phasic and tonic control is crucial for the generation of adaptive and efficient locomotion.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages2856-2861
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Kano, T., Sato, T., Kobayashi, R., & Ishiguro, A. (2010). Decentralized control of serpentine locomotion that enables well-balanced coupling between phasic and tonic control. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 2856-2861). [5651828] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5651828