TY - JOUR
T1 - Tegotae-based decentralised control scheme for autonomous gait transition of snake-like robots
AU - Kano, Takeshi
AU - Yoshizawa, Ryo
AU - Ishiguro, Akio
N1 - Funding Information:
This work was supported in part by NEDO (Strategic Advancement of Multi-Purpose Ultra-Human Robot and Artificial Intelligence Technologies). Figures 11(a) and (b) were reproduced from figure 10 in [6] and figure 13 in [4] with permission, respectively. Animal care and treatment were conducted in conformity with the institutional guidelines of the Japan Snake Institute. The authors would like to thank Dr Kosuke Inoue of Ibaraki University Dr Hisashi Date of University of Tsukuba University, and Daiki Nakashima of Tohoku University for their cooperation. The authors would also like to thank the late Dr Michihisa Toriba, Dr Atsushi Sakai and Dr Hisashi Miho of the Japan Snake Institute for their cooperation.
Publisher Copyright:
© 2017 IOP Publishing Ltd.
PY - 2017/8/4
Y1 - 2017/8/4
N2 - Snakes change their locomotion patterns in response to the environment. This ability is a motivation for developing snake-like robots with highly adaptive functionality. In this study, a decentralised control scheme of snake-like robots that exhibited autonomous gait transition (i.e. the transition between concertina locomotion in narrow aisles and scaffold-based locomotion on unstructured terrains) was developed. Additionally, the control scheme was validated via simulations. A key insight revealed is that these locomotion patterns were not preprogrammed but emerged by exploiting Tegotae, a concept that describes the extent to which a perceived reaction matches a generated action. Unlike local reflexive mechanisms proposed previously, the Tegotae-based feedback mechanism enabled the robot to 'selectively' exploit environments beneficial for propulsion, and generated reasonable locomotion patterns. It is expected that the results of this study can form the basis to design robots that can work under unpredictable and unstructured environments.
AB - Snakes change their locomotion patterns in response to the environment. This ability is a motivation for developing snake-like robots with highly adaptive functionality. In this study, a decentralised control scheme of snake-like robots that exhibited autonomous gait transition (i.e. the transition between concertina locomotion in narrow aisles and scaffold-based locomotion on unstructured terrains) was developed. Additionally, the control scheme was validated via simulations. A key insight revealed is that these locomotion patterns were not preprogrammed but emerged by exploiting Tegotae, a concept that describes the extent to which a perceived reaction matches a generated action. Unlike local reflexive mechanisms proposed previously, the Tegotae-based feedback mechanism enabled the robot to 'selectively' exploit environments beneficial for propulsion, and generated reasonable locomotion patterns. It is expected that the results of this study can form the basis to design robots that can work under unpredictable and unstructured environments.
KW - autonomous decentralized control
KW - gait transition
KW - snake locomotion
KW - tegotae
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U2 - 10.1088/1748-3190/aa7725
DO - 10.1088/1748-3190/aa7725
M3 - Article
C2 - 28581439
AN - SCOPUS:85032936203
SN - 1748-3182
VL - 12
JO - Bioinspiration and Biomimetics
JF - Bioinspiration and Biomimetics
IS - 4
M1 - 046009
ER -