TY - GEN
T1 - Decentralized control of serpentine locomotion that enables well-balanced coupling between phasic and tonic control
AU - Kano, Takeshi
AU - Sato, Takahide
AU - Kobayashi, Ryo
AU - Ishiguro, Akio
PY - 2010
Y1 - 2010
N2 - Decentralized control is a key concept to understand the mechanism of versatile and adaptive locomotion of animals under various environments. However, a systematic design of an autonomous decentralized control system has not been well established, because previous studies mainly focused on the control of phase relationship among body parts, i.e., phasic control, but not on the control of the spatio-temporal dynamics of muscle tonus, i.e., tonic control. In this paper, we propose a decentralized control scheme that enables to reconcile phasic control and tonic control, by taking serpentine locomotion as a practical example. Through modeling and simulations, we show that well-balanced coupling between the phasic and tonic control is crucial for the generation of adaptive and efficient locomotion.
AB - Decentralized control is a key concept to understand the mechanism of versatile and adaptive locomotion of animals under various environments. However, a systematic design of an autonomous decentralized control system has not been well established, because previous studies mainly focused on the control of phase relationship among body parts, i.e., phasic control, but not on the control of the spatio-temporal dynamics of muscle tonus, i.e., tonic control. In this paper, we propose a decentralized control scheme that enables to reconcile phasic control and tonic control, by taking serpentine locomotion as a practical example. Through modeling and simulations, we show that well-balanced coupling between the phasic and tonic control is crucial for the generation of adaptive and efficient locomotion.
UR - http://www.scopus.com/inward/record.url?scp=78651510274&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2010.5651828
DO - 10.1109/IROS.2010.5651828
M3 - Conference contribution
AN - SCOPUS:78651510274
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 2856
EP - 2861
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -