Abstract
Snakes possess versatile gait patterns and use them appropriately to adapt to various environments. To reproduce this ability, we have previously proposed a decentralized control scheme for snake robots based on Tegotae, a Japanese concept describing how well a perceived reaction matches an expectation. Here we extend our previous control scheme. Both pitch and yaw joints are embedded in a snake robot, and contact points with the ground as well as lateral bending of the body are controlled by the extended control scheme. We validate the proposed control scheme via real-world experiments with the robot developed.
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Acknowledgments
This work was supported by Japan Science and Technology Agency, CREST (JPMJCR14D5).
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Kano, T., Matsui, N., Ishiguro, A. (2019). 3D Movement of Snake Robot Driven by Tegotae-Based Control. In: Martinez-Hernandez, U., et al. Biomimetic and Biohybrid Systems. Living Machines 2019. Lecture Notes in Computer Science(), vol 11556. Springer, Cham. https://doi.org/10.1007/978-3-030-24741-6_35
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DOI: https://doi.org/10.1007/978-3-030-24741-6_35
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