Decentralized Control of Scaffold-assisted Serpentine Locomotion That Exploits Body Softness
Snakes actively utilize irregularities in terrains and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying such functionalities of snakes on the basis of a synthetic approach. We construct a model of a serpentine robot with viscoelastic properties, and we design an autonomous decentralized control scheme that employs local sensory feedback based on the muscle length and strain of the body, the latter of which is generated by the body softness. Simulation results show that the robot exhibits locomotion effectively by utilizing scaffolds such as high-friction areas and pegs, which is in fairly good agreement with biological findings.
Takeshi Kano Takahide Sato Ryo Kobayashi Akio Ishiguro
Department of Electrical and Communication Engineering,Graduate School of Engineering,Tohoku Univers Department of Mathematical and Life Sciences,Hiroshima University,Higashi Hiroshima 739-8526,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5129-5134
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）