抄録
Autonomous decentralized control is a key concept in our understanding of the mechanism underlying locomotion of animals, wherein the phasic pattern of motion and the excitation pattern of muscle tonus are well reconciled. In our recent work, we proposed a decentralized control methodology in which phasic control and tonic control are well coordinated. In this study, we develop a real serpentine robot to validate our proposed control methodology. Experimental results show that the robot exhibits highly adaptive behavior in response to environmental changes. The results obtained are expected to shed new light on the design of autonomous decentralized control systems.
