TEGOTAE-based control scheme for snake-like robots that enables scaffold-based locomotion

Takeshi Kano, Ryo Yoshizawa, Akio Ishiguro

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルBiomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
編集者Nathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
出版社Springer Verlag
ページ454-458
ページ数5
ISBN(印刷版)9783319424163
DOI
出版ステータスPublished - 2016
イベント5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom
継続期間: 2016 7 192016 7 22

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)
9793
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

Other5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
国/地域United Kingdom
CityEdinburgh
Period16/7/1916/7/22

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

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