TY - GEN
T1 - TEGOTAE-based control scheme for snake-like robots that enables scaffold-based locomotion
AU - Kano, Takeshi
AU - Yoshizawa, Ryo
AU - Ishiguro, Akio
N1 - Funding Information:
This work was supported by NEDO (Core Technology Development Program for Next Generation Robot). The authors would like to thank Daiki Nakashima of Research Institute of Electrical Communication of Tohoku University.
Publisher Copyright:
© Springer International Publishing Switzerland 2016.
PY - 2016
Y1 - 2016
N2 - Snakes exhibit “scaffold-based locomotion” wherein they actively utilize terrain irregularities and move effectively by pushing their body against the scaffolds that they encounter. Implementing the underlying mechanism in snake-like robots will enable them to work well in unstructured real-world environments. In this study, we proposed a decentralized control scheme for snake-like robots based on TEGOTAE, a Japanese concept describing how well a perceived reaction matches an expectation, to reproduce scaffold-based locomotion. A preliminary experimental result showed that reaction forces from environment are evaluated based on TEGOTAE in real time and those beneficial for propulsion of the body are selectively exploited.
AB - Snakes exhibit “scaffold-based locomotion” wherein they actively utilize terrain irregularities and move effectively by pushing their body against the scaffolds that they encounter. Implementing the underlying mechanism in snake-like robots will enable them to work well in unstructured real-world environments. In this study, we proposed a decentralized control scheme for snake-like robots based on TEGOTAE, a Japanese concept describing how well a perceived reaction matches an expectation, to reproduce scaffold-based locomotion. A preliminary experimental result showed that reaction forces from environment are evaluated based on TEGOTAE in real time and those beneficial for propulsion of the body are selectively exploited.
KW - Scaffold-based locomotion
KW - Snake-like robot
KW - TEGOTAE-based control
UR - http://www.scopus.com/inward/record.url?scp=84978886191&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84978886191&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-42417-0_46
DO - 10.1007/978-3-319-42417-0_46
M3 - Conference contribution
AN - SCOPUS:84978886191
SN - 9783319424163
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 454
EP - 458
BT - Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
A2 - Lepora, Nathan F.
A2 - Mura, Anna
A2 - Desmulliez, Marc
A2 - Mangan, Michael
A2 - Verschure, Paul F.M.J.
A2 - Prescott, Tony J.
PB - Springer Verlag
T2 - 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Y2 - 19 July 2016 through 22 July 2016
ER -