Abstract
The ability of several animals to move over terrains such as ground and water by real-time adaptation to the environment has inspired the development of multi-terrain robots, but their working area is limited. Therefore, we previously developed an autonomous decentralized control scheme for a robot based on a scaffold-exploitation mechanism inspired by flatworms; simulations showed that the robot could move over various irregular terrains. Here, via real-world experiments, we show that the robot using the proposed control scheme can move over ground (1.78 × 10-1 m/s on average) and in water (2.97 × 10-2 m/s on average) by effectively pushing its body against environmental features as scaffolds.
Original language | English |
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Pages (from-to) | 523-531 |
Number of pages | 9 |
Journal | Advanced Robotics |
Volume | 28 |
Issue number | 7 |
DOIs | |
Publication status | Published - 2014 Apr 3 |
Keywords
- autonomous decentralized control
- flatworm
- multi-terrain locomotion
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications