TY - GEN
T1 - Decentralized control scheme for myriapod locomotion that exploits local force feedback
AU - Kano, Takeshi
AU - Yasui, Kotaro
AU - Owaki, Dai
AU - Ishiguro, Akio
N1 - Funding Information:
This work was supported by Japan Science and Technology Agency, CREST. The authors would like to thank Kazuhiko Sakai of Research Institute of Electrical Communication of Tohoku University.
Publisher Copyright:
© Springer International Publishing Switzerland 2016.
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
KW - Inter-limb coordination
KW - Local force feedback
KW - Millipede
UR - http://www.scopus.com/inward/record.url?scp=84978864826&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84978864826&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-42417-0_45
DO - 10.1007/978-3-319-42417-0_45
M3 - Conference contribution
AN - SCOPUS:84978864826
SN - 9783319424163
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 449
EP - 453
BT - Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
A2 - Lepora, Nathan F.
A2 - Mura, Anna
A2 - Desmulliez, Marc
A2 - Mangan, Michael
A2 - Verschure, Paul F.M.J.
A2 - Prescott, Tony J.
PB - Springer Verlag
T2 - 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Y2 - 19 July 2016 through 22 July 2016
ER -