Decentralized control scheme for adaptive earthworm locomotion using continuum-model-based analysis

Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)


Crawling locomotion has been the focus of attention in the field of robotics because various applications of it are expected. However, the design methodologies for crawling robots, which can be applied in various environments, are not yet established. Therefore, we considered an earthworm as our model and employed an unconventional approach: we analyzed the motion of the earthworm with a continuum model and derived an optimal force distribution for its efficient propulsion, based on which we proposed an autonomous decentralized control scheme. The validity of the proposed control scheme was confirmed via simulations.

Original languageEnglish
Pages (from-to)197-202
Number of pages6
JournalAdvanced Robotics
Issue number3
Publication statusPublished - 2014 Feb 1


  • Crawling locomotion
  • autonomous decentralized control
  • continuum model
  • earthworm

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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