Towards realization of multi-terrestrial locomotion: Decentralized control of a sheet-like robot based on the scaffold-exploitation mechanism

Takeshi Kano, Yuki Watanabe, Akio Ishiguro

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Article number046012
JournalBioinspiration and Biomimetics
Volume7
Issue number4
DOIs
Publication statusPublished - 2012 Dec 1

ASJC Scopus subject areas

  • Biotechnology
  • Biophysics
  • Biochemistry
  • Molecular Medicine
  • Engineering (miscellaneous)

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