TY - GEN
T1 - Toward well-balanced coupling between phasic and tonic control-A case study with a serpentine robot-
AU - Kano, T.
AU - Sato, T.
AU - Kobayashi, R.
AU - Ishiguro, A.
N1 - Publisher Copyright:
© 2010 by World Scientific Publishing Co. Pte. Ltd.
PY - 2010
Y1 - 2010
N2 - Decentralized control is a key concept to understand the mechanism of versatile and adaptive locomotion of animals under various environments. However, a systematic design of an autonomous decentralized control system is yet to be realized. To address this gap, we have so far developed a design scheme based on discrepancy function. However, the spatial distribution of muscle tonus has not been considered in our previous study, although it is crucial for animal locomotions. In this paper, we propose a design scheme where both the phasic and tonic control are considered, by focusing on serpentine locomotion. Simulation results show that adaptive locomotion is successfully emerged through the coordination of the phasic and tonic control.
AB - Decentralized control is a key concept to understand the mechanism of versatile and adaptive locomotion of animals under various environments. However, a systematic design of an autonomous decentralized control system is yet to be realized. To address this gap, we have so far developed a design scheme based on discrepancy function. However, the spatial distribution of muscle tonus has not been considered in our previous study, although it is crucial for animal locomotions. In this paper, we propose a design scheme where both the phasic and tonic control are considered, by focusing on serpentine locomotion. Simulation results show that adaptive locomotion is successfully emerged through the coordination of the phasic and tonic control.
KW - Decentralized Control
KW - Phasic/Tonic Control
KW - Serpentine Robot
UR - http://www.scopus.com/inward/record.url?scp=85071873471&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071873471&partnerID=8YFLogxK
U2 - 10.1142/9789814329927_0022
DO - 10.1142/9789814329927_0022
M3 - Conference contribution
AN - SCOPUS:85071873471
SN - 9789814327978
T3 - Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
SP - 165
EP - 172
BT - Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
A2 - Fujimoto, Hideo
A2 - Tokhi, Mohammad O.
A2 - Mochiyama, Hiromi
A2 - Virk, Gurvinder S.
PB - World Scientific
T2 - 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
Y2 - 31 August 2010 through 3 September 2010
ER -