TY - JOUR
T1 - Towards realization of multi-terrestrial locomotion
T2 - Decentralized control of a sheet-like robot based on the scaffold-exploitation mechanism
AU - Kano, Takeshi
AU - Watanabe, Yuki
AU - Ishiguro, Akio
PY - 2012/12/1
Y1 - 2012/12/1
N2 - Autonomous decentralized control is an attractive concept for designing robots that can exhibit highly adaptive animal-like behaviour. However, despite its appeal, previous robots based on this scheme could only adapt to a limited number of environments. Our hypothesis it that this problem can be overcome by simply implementing a scaffold-exploitation mechanism. We draw our inspiration from flatworms, which move over various terrains using their two-dimensional sheet-like body, and we design an autonomous decentralized control scheme for a similar robot based on the scaffold-exploitation mechanism. Simulation results show that a robot with the proposed control scheme can move efficiently over various irregular terrains. Our control scheme is not specific to a certain environment, but will be applicable in any environment; it could thus form the basis for developing a multi-terrestrial robot whose working area covers land, sea and even air.
AB - Autonomous decentralized control is an attractive concept for designing robots that can exhibit highly adaptive animal-like behaviour. However, despite its appeal, previous robots based on this scheme could only adapt to a limited number of environments. Our hypothesis it that this problem can be overcome by simply implementing a scaffold-exploitation mechanism. We draw our inspiration from flatworms, which move over various terrains using their two-dimensional sheet-like body, and we design an autonomous decentralized control scheme for a similar robot based on the scaffold-exploitation mechanism. Simulation results show that a robot with the proposed control scheme can move efficiently over various irregular terrains. Our control scheme is not specific to a certain environment, but will be applicable in any environment; it could thus form the basis for developing a multi-terrestrial robot whose working area covers land, sea and even air.
UR - http://www.scopus.com/inward/record.url?scp=84870381068&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84870381068&partnerID=8YFLogxK
U2 - 10.1088/1748-3182/7/4/046012
DO - 10.1088/1748-3182/7/4/046012
M3 - Article
C2 - 23093049
AN - SCOPUS:84870381068
VL - 7
JO - Bioinspiration and Biomimetics
JF - Bioinspiration and Biomimetics
SN - 1748-3182
IS - 4
M1 - 046012
ER -