Decentralized control scheme for myriapod locomotion that exploits local force feedback

Takeshi Kano; Kotaro Yasui; Dai Owaki; Akio Ishiguro

doi:10.1007/978-3-319-42417-0_45

Decentralized control scheme for myriapod locomotion that exploits local force feedback

Takeshi Kano, Kotaro Yasui, Dai Owaki, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
Editors	Nathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
Publisher	Springer-Verlag
Pages	449-453
Number of pages	5
ISBN (Print)	9783319424163
DOIs	https://doi.org/10.1007/978-3-319-42417-0_45
Publication status	Published - 2016 Jan 1
Event	5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom Duration: 2016 Jul 19 → 2016 Jul 22

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9793
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Country	United Kingdom
City	Edinburgh
Period	16/7/19 → 16/7/22

Keywords

Inter-limb coordination
Local force feedback
Millipede

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-319-42417-0_45

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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

Decentralized control scheme for myriapod locomotion that exploits local force feedback. / Kano, Takeshi ; Yasui, Kotaro ; Owaki, Dai ; Ishiguro, Akio.

Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings. ed. / Nathan F. Lepora; Anna Mura; Marc Desmulliez; Michael Mangan; Paul F.M.J. Verschure; Tony J. Prescott. Springer-Verlag, 2016. p. 449-453 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9793).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kano, T , Yasui, K , Owaki, D & Ishiguro, A 2016, Decentralized control scheme for myriapod locomotion that exploits local force feedback. in NF Lepora, A Mura, M Desmulliez, M Mangan, PFMJ Verschure & TJ Prescott (eds), Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9793, Springer-Verlag, pp. 449-453, 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016, Edinburgh, United Kingdom, 16/7/19. https://doi.org/10.1007/978-3-319-42417-0_45

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

Kano, Takeshi ; Yasui, Kotaro ; Owaki, Dai ; Ishiguro, Akio. / Decentralized control scheme for myriapod locomotion that exploits local force feedback. Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings. editor / Nathan F. Lepora ; Anna Mura ; Marc Desmulliez ; Michael Mangan ; Paul F.M.J. Verschure ; Tony J. Prescott. Springer-Verlag, 2016. pp. 449-453 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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