Abstract
Snakes exhibit “scaffold-based locomotion” wherein they actively utilize terrain irregularities and move effectively by pushing their body against the scaffolds that they encounter. Implementing the underlying mechanism in snake-like robots will enable them to work well in unstructured real-world environments. In this study, we proposed a decentralized control scheme for snake-like robots based on TEGOTAE, a Japanese concept describing how well a perceived reaction matches an expectation, to reproduce scaffold-based locomotion. A preliminary experimental result showed that reaction forces from environment are evaluated based on TEGOTAE in real time and those beneficial for propulsion of the body are selectively exploited.
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Acknowledgments
This work was supported by NEDO (Core Technology Development Program for Next Generation Robot). The authors would like to thank Daiki Nakashima of Research Institute of Electrical Communication of Tohoku University.
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Kano, T., Yoshizawa, R., Ishiguro, A. (2016). TEGOTAE-Based Control Scheme for Snake-Like Robots That Enables Scaffold-Based Locomotion. In: Lepora, N., Mura, A., Mangan, M., Verschure, P., Desmulliez, M., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2016. Lecture Notes in Computer Science(), vol 9793. Springer, Cham. https://doi.org/10.1007/978-3-319-42417-0_46
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DOI: https://doi.org/10.1007/978-3-319-42417-0_46
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