2A2-F21 Experimental Verification of Autonomous Decentralized Control Scheme That Exploits the Discrepancy between Body, Brain and Environment : A Case Study with a Real Serpentine Robot

Abstract

Despite its appealing concept, a systematic way of designing autonomous decentralized control system is still missing. In order to alleviate this, we have so far proposed a design scheme for local sensory feedback control based on so-called discrepancy function. This paper intensively investigates the validity of this design scheme by taking a two dimensional serpentine robot as a practical example. Preliminary simulation results strongly indicate that our design scheme allows us to endow the robot with highly adaptivity and fault tolerance. In this paper, we developed a two-dimensional real serpentine robot in order to verify the validity of simulation results in the real world.