Snake-like robot that can generate versatile gait patterns by using Tegotae-based control

Takeshi Kano, Ryo Yoshizawa, Akio Ishiguro

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

1 Citation (Scopus)

Abstract

Snakes exhibit versatile gait patterns to adapt to various environments. Implementing the underlying mechanism in snake-like robots will enable them to work well in unstructured real-world environments. We previously proposed a decentralized control scheme for snake-like robots based on Tegotae, a Japanese concept describing how well a perceived reaction matches an expectation. In this study, we developed a snake-like robot to demonstrate via real-world experiments that the proposed control scheme enables to produce versatile gait patterns such as scaffold-based locomotion on irregular terrain and concertina locomotion in narrow aisle without changing any parameter.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 7th International Conference, Living Machines 2018, Proceedings
EditorsNathan Lepora, Vasiliki Vouloutsi, Anna Mura, Paul F. Verschure, Jose Halloy, Michael Mangan, Tony J. Prescott
PublisherSpringer Verlag
Pages249-254
Number of pages6
ISBN (Print)9783319959719
DOIs
Publication statusPublished - 2018 Jan 1
Event7th International Conference on Biomimetic and Biohybrid Systems, 2018 - Paris, France
Duration: 2018 Jul 172018 Jul 20

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10928 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other7th International Conference on Biomimetic and Biohybrid Systems, 2018
CountryFrance
CityParis
Period18/7/1718/7/20

Keywords

  • Concertina locomotion
  • Scaffold-based locomotion
  • Snake-like Robot
  • Tegotae-based control

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Kano, T., Yoshizawa, R., & Ishiguro, A. (2018). Snake-like robot that can generate versatile gait patterns by using Tegotae-based control. In N. Lepora, V. Vouloutsi, A. Mura, P. F. Verschure, J. Halloy, M. Mangan, & T. J. Prescott (Eds.), Biomimetic and Biohybrid Systems - 7th International Conference, Living Machines 2018, Proceedings (pp. 249-254). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10928 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-95972-6_26