TY - GEN
T1 - Snake-like robot driven by decentralized control scheme for scaffold-based locomotion
AU - Sato, Takahide
AU - Kano, Takeshi
AU - Kobayashi, Ryo
AU - Ishiguro, Akio
PY - 2012
Y1 - 2012
N2 - Snakes actively utilize terrain irregularities and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying this locomotion on the basis of a synthetic approach. Our previous control scheme of a snake-like robot, in which the curvature derivative control method is combined with a reflexive mechanism using local pressures on the body wall, could not fully reproduce innate behavior of real snakes. In this study, we improve our previous control scheme. We show that the locomotion of a simulated robot with the improved control scheme is surprisingly in good agreement with the locomotion of a real snake. We also present a physical robot that we are currently developing.
AB - Snakes actively utilize terrain irregularities and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying this locomotion on the basis of a synthetic approach. Our previous control scheme of a snake-like robot, in which the curvature derivative control method is combined with a reflexive mechanism using local pressures on the body wall, could not fully reproduce innate behavior of real snakes. In this study, we improve our previous control scheme. We show that the locomotion of a simulated robot with the improved control scheme is surprisingly in good agreement with the locomotion of a real snake. We also present a physical robot that we are currently developing.
UR - http://www.scopus.com/inward/record.url?scp=84872351299&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872351299&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385930
DO - 10.1109/IROS.2012.6385930
M3 - Conference contribution
AN - SCOPUS:84872351299
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 132
EP - 138
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -