Decentralized-controlled multi-terrain robot inspired by flatworm locomotion

Takeshi Kano; Yuki Watanabe; Fuyuhiko Satake; Akio Ishiguro

doi:10.1080/01691864.2013.878667

Decentralized-controlled multi-terrain robot inspired by flatworm locomotion

Takeshi Kano, Yuki Watanabe, Fuyuhiko Satake, Akio Ishiguro

Human Information Systems Division

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

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
Pages (from-to)	523-531
Number of pages	9
Journal	Advanced Robotics
Volume	28
Issue number	7
DOIs	https://doi.org/10.1080/01691864.2013.878667
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

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10.1080/01691864.2013.878667

Cite this

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title = "Decentralized-controlled multi-terrain robot inspired by flatworm locomotion",

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.",

keywords = "autonomous decentralized control, flatworm, multi-terrain locomotion",

author = "Takeshi Kano and Yuki Watanabe and Fuyuhiko Satake and Akio Ishiguro",

note = "Funding Information: This work was supported in part by the Sekisui Chemical {\textquoteleft}Innovations Inspired by Nature{\textquoteright} Research Support Program. We thankProf. Ryo Kobayashi and Dr. Toshiya Kazama of the Department of Mathematical and Life Sciences of Hiroshima University for their helpful suggestions. Copyright: Copyright 2014 Elsevier B.V., All rights reserved.",

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doi = "10.1080/01691864.2013.878667",

language = "English",

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AU - Watanabe, Yuki

AU - Satake, Fuyuhiko

AU - Ishiguro, Akio

N1 - Funding Information: This work was supported in part by the Sekisui Chemical ‘Innovations Inspired by Nature’ Research Support Program. We thankProf. Ryo Kobayashi and Dr. Toshiya Kazama of the Department of Mathematical and Life Sciences of Hiroshima University for their helpful suggestions. Copyright: Copyright 2014 Elsevier B.V., All rights reserved.

PY - 2014/4/3

Y1 - 2014/4/3

N2 - 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.

AB - 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.

KW - autonomous decentralized control

KW - flatworm

KW - multi-terrain locomotion

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JF - Advanced Robotics

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Decentralized-controlled multi-terrain robot inspired by flatworm locomotion

Abstract

Keywords

ASJC Scopus subject areas

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