Decentralized-controlled multi-terrain robot inspired by flatworm locomotion

Takeshi Kano, Yuki Watanabe, Fuyuhiko Satake, Akio Ishiguro

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


The ability of several animals to move over terrains such as ground and water by real-time adaptation to the environment has inspired the development of multi-terrain robots, but their working area is limited. Therefore, we previously developed an autonomous decentralized control scheme for a robot based on a scaffold-exploitation mechanism inspired by flatworms; simulations showed that the robot could move over various irregular terrains. Here, via real-world experiments, we show that the robot using the proposed control scheme can move over ground (1.78 × 10-1 m/s on average) and in water (2.97 × 10-2 m/s on average) by effectively pushing its body against environmental features as scaffolds.

Original languageEnglish
Pages (from-to)523-531
Number of pages9
JournalAdvanced Robotics
Issue number7
Publication statusPublished - 2014 Apr 3


  • autonomous decentralized control
  • flatworm
  • multi-terrain locomotion


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