抄録
Systematic design of autonomous decentralized control that leads to highly adaptive behavior is still lacking. To tackle this problem, we focus on "body softness". By taking the locomotion of earthworm that has soft and deformable bodily structure as a practical example, we design an autonomous decentralized control scheme wherein both deep and superficial sensation, the latter of which is obtained owing to the body softness, are fully exploited. Simulation results show that the robot with the proposed control scheme exhibits locomotion effectively by utilizing high-friction areas as scaffolds.
