Name
Title | ||
|---|---|---|
Decentralized control of scaffold-assisted serpentine locomotion that exploits body softness |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5980465 | Robotics and Automation |
Keywords | Field | DocType |
control system synthesis,decentralised control,feedback,legged locomotion,viscoelasticity,autonomous decentralized control design,body softness,body strain,high friction area,local sensory feedback,muscle length,scaffold assisted serpentine locomotion,serpentine robot,viscoelastic properties | Scaffold,Decentralised system,Viscoelasticity,Propulsion,Control theory,Exploit,Control engineering,Engineering,Robot | Conference |
Volume | Issue | ISSN |
2011 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-61284-386-5 | 4 | 0.88 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Takeshi Kano | 1 | 38 | 16.50 |
| takahide sato | 2 | 17 | 6.22 |
| Ryo Kobayashi | 3 | 6 | 2.00 |
| Akio Ishiguro | 4 | 321 | 60.94 |