Realization of snakes’ concertina locomotion by using “TEGOTAE-based control”

Ryo Yoshizawa, Takeshi Kano, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


Our goal is to develop snake-like robots that can exhibit versatile locomotion patterns in response to the environments like real snakes. Towards this goal, in our other work, we proposed an autonomous decentralized control scheme on the basis of a concept called TEGOTAE, a Japanese concept describing how well a perceived reaction matches an expectation, and then succeeded in reproducing scaffold-based locomotion, a locomotion pattern observed in unstructured environments, via real-world experiments. In this study, we demonstrated via simulations that concertina locomotion observed in narrow spaces can be also reproduced by using the proposed control scheme.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
EditorsNathan F. Lepora, Anna Mura, Marc Desmulliez, Michael Mangan, Paul F.M.J. Verschure, Tony J. Prescott
PublisherSpringer Verlag
Number of pages4
ISBN (Print)9783319424163
Publication statusPublished - 2016
Event5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016 - Edinburgh, United Kingdom
Duration: 2016 Jul 192016 Jul 22

Publication series

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


Other5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Country/TerritoryUnited Kingdom

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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