Obstacles are beneficial to me! Scaffold-based locomotion of a snake-like robot using decentralized control

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages3273-3278
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/TerritoryJapan
CityTokyo
Period13/11/313/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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