TY - GEN
T1 - Obstacles are beneficial to me! Scaffold-based locomotion of a snake-like robot using decentralized control
AU - Kano, Takeshi
AU - Ishiguro, Akio
PY - 2013
Y1 - 2013
N2 - Snakes are able to move effectively by using terrain irregularities as scaffolds against which they push their bodies. This locomotion is attractive from a robotic viewpoint because irregularities in the environment of conventional robots interfere with their operation. In a previous work, we proposed a decentralized control mechanism of the scaffold-based locomotion of snakes, which combined curvature derivative control with local pressure reflex. Here, we practically demonstrate how a snake-like robot utilizing the proposed control scheme moves effectively by pushing its body against pegs.
AB - Snakes are able to move effectively by using terrain irregularities as scaffolds against which they push their bodies. This locomotion is attractive from a robotic viewpoint because irregularities in the environment of conventional robots interfere with their operation. In a previous work, we proposed a decentralized control mechanism of the scaffold-based locomotion of snakes, which combined curvature derivative control with local pressure reflex. Here, we practically demonstrate how a snake-like robot utilizing the proposed control scheme moves effectively by pushing its body against pegs.
UR - http://www.scopus.com/inward/record.url?scp=84893866479&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893866479&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696821
DO - 10.1109/IROS.2013.6696821
M3 - Conference contribution
AN - SCOPUS:84893866479
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3273
EP - 3278
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -