SheetBot: Two-dimensional sheet-like robot as a tool for constructing universal decentralized control systems

Takeshi Kano, Yuki Watanabe, Akio Ishiguro

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

7 Citations (Scopus)

Abstract

Autonomous decentralized control is a key concept for the realization of highly adaptive behavior. However, universal design of autonomous decentralized control that ensures rich adaptability is still lacking. In this study, we tackle this problem through the development of a two-dimensional sheet-like robot, SheetBot. The SheetBot is a suitable model system for the establishment of universal design principles for autonomous decentralized control, because it can bend reasonably to the circumstances encountered due to its large surface area, and also because its applications are widely expected. To realize highly adaptive locomotion with SheetBot, we are inspired by the decentralized control scheme of the scaffold-based locomotion of snakes. We extend this design scheme to a two-dimensional bodily structure on the basis of a continuum model. Simulation results show that SheetBot can locomote on various kinds of irregular terrain with minimal control inputs by implementing the proposed autonomous decentralized control scheme.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3733-3738
Number of pages6
ISBN (Print)9781467314039
DOIs
Publication statusPublished - 2012 Jan 1
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 2012 May 142012 May 18

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/TerritoryUnited States
CitySaint Paul, MN
Period12/5/1412/5/18

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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