Abstract
For living beings, the ability that can learn behaviors well-adapted to unknown environments and bodily characteristics is the important to survive in natural environments. Vertebral column makes very important role to generate such behaviors for vertebrates. Compound control is the bio-mimetic control and learning scheme can learn behaviors adapted to environments and bodily characteristics. Robots with bio-mimetic vertebral column mechanisms and controlled by compound control could be possible to move like vertebrates. In this paper, the vertebral column mechanism is proposed. The proposed mechanism has some of similar characteristics with that of vertebrates. The prototype of the proposed mechanisms and the characteristics are shown by the experiments.
