SheetBot: A magic carpet that enables scaffold-based locomotion

Takeshi Kano, Yuki Watanabe, Akio Ishiguro

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

1 Citation (Scopus)

Abstract

Autonomous decentralized control is an attractive concept for designing robots that can exhibit highly adaptive animal-like behaviour. Despite its appeal, previous robots could only adapt to a limited number of environments. To tackle this problem, we hypothesize that robots will move in various environments by simply implementing a 'scaffold-exploitation mechanism'. In our previous work, we drew our inspiration from flatworms, which move over various terrains using their two-dimensional sheet-like body, and designed an autonomous decentralized control scheme for a similar robot, SheetBot. In this study, we extend our previous control scheme so that it can effectively exploit the features in its surrounding environment as scaffolds. The validity of the extended control scheme is confirmed by simulations. Our control scheme is not specific to a certain environment but could be applicable in any environment; it thus forms the basis for developing a multi-terrestrial robot whose working area covers land, sea, and even air.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages1434-1439
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

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

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

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

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