日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
論文
ヘビが示す多様なロコモーション様式の再現を目指した自律分散型ロボット
中島 大樹佐竹 冬彦伊達 央加納 剛史石黒 章夫
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2016 年 34 巻 3 号 p. 205-210

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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.

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© 2016 日本ロボット学会
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