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

Takeshi Kano; Naoki Matsui; Akio Ishiguro

doi:10.1007/978-3-030-24741-6_35

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

Takeshi Kano, Naoki Matsui, Akio Ishiguro

Human Information Systems Division

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

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.

Original language	English
Title of host publication	Biomimetic and Biohybrid Systems - 8th International Conference, Living Machines 2019, Proceedings
Editors	Uriel Martinez-Hernandez, Vasiliki Vouloutsi, Anna Mura, Michael Mangan, Tony J. Prescott, Minoru Asada, Paul F.M.J. Verschure
Publisher	Springer Verlag
Pages	346-350
Number of pages	5
ISBN (Print)	9783030247409
DOIs	https://doi.org/10.1007/978-3-030-24741-6_35
Publication status	Published - 2019
Event	8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019 - Nara, Japan Duration: 2019 Jul 9 → 2019 Jul 12

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11556 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019
Country/Territory	Japan
City	Nara
Period	19/7/9 → 19/7/12

Keywords

Snake robot
Tegotae-based control

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-030-24741-6_35

Cite this

Kano, T., Matsui, N., & Ishiguro, A. (2019). 3D Movement of Snake Robot Driven by Tegotae-Based Control. In U. Martinez-Hernandez, V. Vouloutsi, A. Mura, M. Mangan, T. J. Prescott, M. Asada, & P. F. M. J. Verschure (Eds.), Biomimetic and Biohybrid Systems - 8th International Conference, Living Machines 2019, Proceedings (pp. 346-350). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11556 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-030-24741-6_35

3D Movement of Snake Robot Driven by Tegotae-Based Control. / Kano, Takeshi; Matsui, Naoki; Ishiguro, Akio.
Biomimetic and Biohybrid Systems - 8th International Conference, Living Machines 2019, Proceedings. ed. / Uriel Martinez-Hernandez; Vasiliki Vouloutsi; Anna Mura; Michael Mangan; Tony J. Prescott; Minoru Asada; Paul F.M.J. Verschure. Springer Verlag, 2019. p. 346-350 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11556 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kano, T, Matsui, N & Ishiguro, A 2019, 3D Movement of Snake Robot Driven by Tegotae-Based Control. in U Martinez-Hernandez, V Vouloutsi, A Mura, M Mangan, TJ Prescott, M Asada & PFMJ Verschure (eds), Biomimetic and Biohybrid Systems - 8th International Conference, Living Machines 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11556 LNAI, Springer Verlag, pp. 346-350, 8th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2019, Nara, Japan, 19/7/9. https://doi.org/10.1007/978-3-030-24741-6_35

Kano T, Matsui N, Ishiguro A. 3D Movement of Snake Robot Driven by Tegotae-Based Control. In Martinez-Hernandez U, Vouloutsi V, Mura A, Mangan M, Prescott TJ, Asada M, Verschure PFMJ, editors, Biomimetic and Biohybrid Systems - 8th International Conference, Living Machines 2019, Proceedings. Springer Verlag. 2019. p. 346-350. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-24741-6_35

Kano, Takeshi ; Matsui, Naoki ; Ishiguro, Akio. / 3D Movement of Snake Robot Driven by Tegotae-Based Control. Biomimetic and Biohybrid Systems - 8th International Conference, Living Machines 2019, Proceedings. editor / Uriel Martinez-Hernandez ; Vasiliki Vouloutsi ; Anna Mura ; Michael Mangan ; Tony J. Prescott ; Minoru Asada ; Paul F.M.J. Verschure. Springer Verlag, 2019. pp. 346-350 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "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.",

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

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