Abstract
Snakes exhibit greatly versatile and adaptive behavior under unpredictable real-world constraints. Although numerous snake-like robots have been developed thus far, they could not reproduce the innate, versatile behavior of real snakes. To address this issue, we previously proposed an autonomous decentralized control scheme in which three-dimensional effect is added to curvature derivative control. In this study, we developed a robot to investigate the validity of the proposed control scheme. Experimental results showed that multiple behaviors emerge via the change of a small number of parameters.
