Decentralized Control Scheme for Coupling Between Undulatory and Peristaltic Locomotion

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

Abstract

Animals use various locomotion patterns, such as undulatory, peristaltic, and legged locomotion, reasonably and appropriately to adapt to a wide range of environments. The goal of this study is to design a decentralized control scheme that can generate multiple locomotion patterns in response to environments. We draw inspiration from our previous works on snake and earthworm locomotion and propose a decentralized control scheme capable of generating undulatory and peristaltic locomotion. We demonstrate via simulations that undulatory and peristaltic locomotion are used appropriately to adapt to various environments in real time.

Original languageEnglish
Title of host publicationFrom Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings
EditorsPoramate Manoonpong, Jørgen Christian Larsen, Xiaofeng Xiong, John Hallam, Jochen Triesch
PublisherSpringer Verlag
Pages90-101
Number of pages12
ISBN (Print)9783319976273
DOIs
Publication statusPublished - 2018
Event15th International Conference on the Simulation of Adaptive Behavior, SAB 2018 - Frankfurt/Main, Germany
Duration: 2018 Aug 142018 Aug 17

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10994 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other15th International Conference on the Simulation of Adaptive Behavior, SAB 2018
CountryGermany
CityFrankfurt/Main
Period18/8/1418/8/17

Keywords

  • Decentralized control
  • Peristaltic locomotion
  • Undulatory locomotion

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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