Decentralized control scheme for myriapod locomotion that exploits local force feedback

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

2 Citations (Scopus)

Abstract

Legged animals exhibit adaptive and resilient locomotion through their inter-limb coordination. Our long-term goal of this study is to develop a systematic design scheme for legged robots by elucidating the inter-limb coordination mechanism of various legged animals from a unified viewpoint. As a preliminary step towards this, we here focus on millipedes. We performed behavioral experiments on a terrain with gap, and found that legs do not tend to move without the ground contact. Based on this qualitative finding, we proposed a decentralized control scheme using local force feedback.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
EditorsNathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
PublisherSpringer-Verlag
Pages449-453
Number of pages5
ISBN (Print)9783319424163
DOIs
Publication statusPublished - 2016 Jan 1
Event5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom
Duration: 2016 Jul 192016 Jul 22

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9793
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
CountryUnited Kingdom
CityEdinburgh
Period16/7/1916/7/22

Keywords

  • Inter-limb coordination
  • Local force feedback
  • Millipede

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Kano, T., Yasui, K., Owaki, D., & Ishiguro, A. (2016). Decentralized control scheme for myriapod locomotion that exploits local force feedback. In N. F. Lepora, A. Mura, M. Desmulliez, M. Mangan, P. F. M. J. Verschure, & T. J. Prescott (Eds.), Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings (pp. 449-453). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9793). Springer-Verlag. https://doi.org/10.1007/978-3-319-42417-0_45