Toward well-balanced coupling between phasic and tonic control-A case study with a serpentine robot-

T. Kano, T. Sato, R. Kobayashi, A. Ishiguro

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

Abstract

Decentralized control is a key concept to understand the mechanism of versatile and adaptive locomotion of animals under various environments. However, a systematic design of an autonomous decentralized control system is yet to be realized. To address this gap, we have so far developed a design scheme based on discrepancy function. However, the spatial distribution of muscle tonus has not been considered in our previous study, although it is crucial for animal locomotions. In this paper, we propose a design scheme where both the phasic and tonic control are considered, by focusing on serpentine locomotion. Simulation results show that adaptive locomotion is successfully emerged through the coordination of the phasic and tonic control.

Original languageEnglish
Title of host publicationEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
EditorsHideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk
PublisherWorld Scientific
Pages165-172
Number of pages8
ISBN (Print)9789814327978
DOIs
Publication statusPublished - 2010
Event13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan
Duration: 2010 Aug 312010 Sep 3

Publication series

NameEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

Conference

Conference13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
CountryJapan
CityNagoya
Period10/8/3110/9/3

Keywords

  • Decentralized Control
  • Phasic/Tonic Control
  • Serpentine Robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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