A snake-like robot driven by a decentralized control that enables both phasic and tonic control

Takahide Sato, Takeshi Kano, Akio Ishiguro

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

Autonomous decentralized control is a key concept in our understanding of the mechanism underlying locomotion of animals, wherein the phasic pattern of motion and the excitation pattern of muscle tonus are well reconciled. In our recent work, we proposed a decentralized control scheme in which phasic control and tonic control are well coordinated. In this study, we develop a real snake-like robot to validate our proposed control scheme. Experimental results show that the robot exhibits highly adaptive behavior in response to environmental changes. The results obtained are expected to shed new light on the design of autonomous decentralized control systems.

本文言語English
ホスト出版物のタイトルIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルCelebrating 50 Years of Robotics
ページ1881-1886
ページ数6
DOI
出版ステータスPublished - 2011 12 29
イベント2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
継続期間: 2011 9 252011 9 30

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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