TEGOTAE-based control scheme for snake-like robots that enables scaffold-based locomotion

Takeshi Kano, Ryo Yoshizawa, Akio Ishiguro

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

4 Citations (Scopus)

Abstract

Snakes exhibit “scaffold-based locomotion” wherein they actively utilize terrain irregularities and move effectively by pushing their body against the scaffolds that they encounter. Implementing the underlying mechanism in snake-like robots will enable them to work well in unstructured real-world environments. In this study, we proposed a decentralized control scheme for snake-like robots based on TEGOTAE, a Japanese concept describing how well a perceived reaction matches an expectation, to reproduce scaffold-based locomotion. A preliminary experimental result showed that reaction forces from environment are evaluated based on TEGOTAE in real time and those beneficial for propulsion of the body are selectively exploited.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
EditorsNathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
PublisherSpringer Verlag
Pages454-458
Number of pages5
ISBN (Print)9783319424163
DOIs
Publication statusPublished - 2016
Event5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom
Duration: 2016 Jul 192016 Jul 22

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9793
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Country/TerritoryUnited Kingdom
CityEdinburgh
Period16/7/1916/7/22

Keywords

  • Scaffold-based locomotion
  • Snake-like robot
  • TEGOTAE-based control

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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