Snake-like robot driven by decentralized control scheme for scaffold-based locomotion

Takahide Sato, Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

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

3 Citations (Scopus)

Abstract

Snakes actively utilize terrain irregularities and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying this locomotion on the basis of a synthetic approach. Our previous control scheme of a snake-like robot, in which the curvature derivative control method is combined with a reflexive mechanism using local pressures on the body wall, could not fully reproduce innate behavior of real snakes. In this study, we improve our previous control scheme. We show that the locomotion of a simulated robot with the improved control scheme is surprisingly in good agreement with the locomotion of a real snake. We also present a physical robot that we are currently developing.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages132-138
Number of pages7
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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  • Cite this

    Sato, T., Kano, T., Kobayashi, R., & Ishiguro, A. (2012). Snake-like robot driven by decentralized control scheme for scaffold-based locomotion. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 132-138). [6385930] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385930