TY - GEN
T1 - Decentralized control of multi-articular snake-like robot for efficient locomotion
AU - Kano, Takeshi
AU - Sato, Takahide
AU - Kobayashi, Ryo
AU - Ishiguro, Akio
PY - 2011
Y1 - 2011
N2 - The mechanism of multi-articular muscles that contributes to the emergence of macroscopic behavior of animals has not been clarified thus far. To address this issue, we focus on the slithering motion of snakes, which have numerous antagonistic muscle-tendon chains that span several tens of vertebrae. From theoretical analyses based on the continuum model, the acceleration of the body in the longitudinal direction is found to be proportional to the number of segments spanned by each muscle. On the basis of this theoretical result, we propose a decentralized control scheme for the efficient locomotion of a multi-articular snake-like robot. We conduct simulations using this control scheme, and the results show that the locomotion efficiency increases as the number of segments spanned by each muscle increases.
AB - The mechanism of multi-articular muscles that contributes to the emergence of macroscopic behavior of animals has not been clarified thus far. To address this issue, we focus on the slithering motion of snakes, which have numerous antagonistic muscle-tendon chains that span several tens of vertebrae. From theoretical analyses based on the continuum model, the acceleration of the body in the longitudinal direction is found to be proportional to the number of segments spanned by each muscle. On the basis of this theoretical result, we propose a decentralized control scheme for the efficient locomotion of a multi-articular snake-like robot. We conduct simulations using this control scheme, and the results show that the locomotion efficiency increases as the number of segments spanned by each muscle increases.
UR - http://www.scopus.com/inward/record.url?scp=84455178888&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455178888&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048302
DO - 10.1109/IROS.2011.6048302
M3 - Conference contribution
AN - SCOPUS:84455178888
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1875
EP - 1880
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -