TY - GEN
T1 - Realization of snakes’ concertina locomotion by using “TEGOTAE-based control”
AU - Yoshizawa, Ryo
AU - Kano, Takeshi
AU - Ishiguro, Akio
N1 - Funding Information:
This work was supported in part by NEDO (Core Technology Development Program for Next Generation Robot). The authors would like to thank Dr. Kosuke Inoue of Ibaraki University and Dr. Hisashi Date of University of Tsukuba, and Daiki Nakashima of Tohoku University, for their cooperation.
Publisher Copyright:
© Springer International Publishing Switzerland 2016.
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-319-42417-0_61
DO - 10.1007/978-3-319-42417-0_61
M3 - Conference contribution
AN - SCOPUS:84978827591
SN - 9783319424163
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 548
EP - 551
BT - Biomimetic and Biohybrid Systems - 5th International Conference, Living Machines 2016, Proceedings
A2 - Lepora, Nathan F.
A2 - Mura, Anna
A2 - Desmulliez, Marc
A2 - Mangan, Michael
A2 - Verschure, Paul F.M.J.
A2 - Prescott, Tony J.
PB - Springer Verlag
T2 - 5th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2016
Y2 - 19 July 2016 through 22 July 2016
ER -