Decentralized control of scaffold-assisted serpentine locomotion that exploits body softness

Takeshi Kano, Takahide Sato, Ryo Kobayashi, Akio Ishiguro

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

Snakes actively utilize irregularities in terrains and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying such functionalities of snakes on the basis of a synthetic approach. We construct a model of a serpentine robot with viscoelastic properties, and we design an autonomous decentralized control scheme that employs local sensory feedback based on the muscle length and strain of the body, the latter of which is generated by the body softness. Simulation results show that the robot exhibits locomotion effectively by utilizing scaffolds such as high-friction areas and pegs, which is in fairly good agreement with biological findings.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Automation, ICRA 2011
ページ5129-5134
ページ数6
DOI
出版ステータスPublished - 2011
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
継続期間: 2011 5 92011 5 13

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
国/地域China
CityShanghai
Period11/5/911/5/13

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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