@inproceedings{314b9299102147bfbd658d8b5b505092,
title = "Snake-like robot that can generate versatile gait patterns by using Tegotae-based control",
abstract = "Snakes exhibit versatile gait patterns to adapt to various environments. Implementing the underlying mechanism in snake-like robots will enable them to work well in unstructured real-world environments. We previously proposed a decentralized control scheme for snake-like robots based on Tegotae, a Japanese concept describing how well a perceived reaction matches an expectation. In this study, we developed a snake-like robot to demonstrate via real-world experiments that the proposed control scheme enables to produce versatile gait patterns such as scaffold-based locomotion on irregular terrain and concertina locomotion in narrow aisle without changing any parameter.",
keywords = "Concertina locomotion, Scaffold-based locomotion, Snake-like Robot, Tegotae-based control",
author = "Takeshi Kano and Ryo Yoshizawa and Akio Ishiguro",
note = "Funding Information: Acknowledgments. This work was supported by Japan Science and Technology Agency, CREST (JPMJCR14D5). The authors would like to thank Dr. Kosuke Inoue of Ibaraki University, and the late Dr. Michihisa Toriba, Dr. Atsushi Sakai and Dr. Hisashi Miho of the Japan Snake Institute for their cooperation. Publisher Copyright: {\textcopyright} Springer International Publishing AG, part of Springer Nature 2018.; 7th International Conference on Biomimetic and Biohybrid Systems, 2018 ; Conference date: 17-07-2018 Through 20-07-2018",
year = "2018",
doi = "10.1007/978-3-319-95972-6_26",
language = "English",
isbn = "9783319959719",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "249--254",
editor = "Nathan Lepora and Vasiliki Vouloutsi and Anna Mura and Verschure, {Paul F.} and Jose Halloy and Michael Mangan and Prescott, {Tony J.}",
booktitle = "Biomimetic and Biohybrid Systems - 7th International Conference, Living Machines 2018, Proceedings",
address = "Germany",
}