DocumentCode :
2592871
Title :
Snake-like robot driven by decentralized control scheme for scaffold-based locomotion
Author :
Sato, Takahide ; Kano, Takeshi ; Kobayashi, Ryo ; Ishiguro, Akio
Author_Institution :
Res. Inst. of Electr. Commun., Tohoku Univ., Sendai, Japan
fYear :
2012
fDate :
7-12 Oct. 2012
Firstpage :
132
Lastpage :
138
Abstract :
Snakes actively utilize terrain irregularities and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying this locomotion on the basis of a synthetic approach. Our previous control scheme of a snake-like robot, in which the curvature derivative control method is combined with a reflexive mechanism using local pressures on the body wall, could not fully reproduce innate behavior of real snakes. In this study, we improve our previous control scheme. We show that the locomotion of a simulated robot with the improved control scheme is surprisingly in good agreement with the locomotion of a real snake. We also present a physical robot that we are currently developing.
Keywords :
decentralised control; mobile robots; propulsion; curvature derivative control method; decentralized control scheme; physical robot; propulsion force; scaffold-based locomotion; simulated robot locomotion; snake-like robot driven; synthetic approach; terrain irregularities; Distributed control; Force; Joints; Muscles; Propulsion; Robots; Springs;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
ISSN :
2153-0858
Print_ISBN :
978-1-4673-1737-5
Type :
conf
DOI :
10.1109/IROS.2012.6385930
Filename :
6385930
Link To Document :
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