3D Movement of Snake Robot Driven by Tegotae-Based Control

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Snakes possess versatile gait patterns and use them appropriately to adapt to various environments. To reproduce this ability, we have previously proposed a decentralized control scheme for snake robots based on Tegotae, a Japanese concept describing how well a perceived reaction matches an expectation. Here we extend our previous control scheme. Both pitch and yaw joints are embedded in a snake robot, and contact points with the ground as well as lateral bending of the body are controlled by the extended control scheme. We validate the proposed control scheme via real-world experiments with the robot developed.

本文言語English
ホスト出版物のタイトルBiomimetic and Biohybrid Systems - 8th International Conference, Living Machines 2019, Proceedings
編集者Uriel Martinez-Hernandez, Vasiliki Vouloutsi, Anna Mura, Michael Mangan, Tony J. Prescott, Minoru Asada, Paul F.M.J. Verschure
出版社Springer Verlag
ページ346-350
ページ数5
ISBN(印刷版)9783030247409
DOI
出版ステータスPublished - 2019
イベント8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019 - Nara, Japan
継続期間: 2019 7 92019 7 12

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
11556 LNAI
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Conference

Conference8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019
CountryJapan
CityNara
Period19/7/919/7/12

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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