Abstract
Although autonomous decentralized control is a key concept for the realization of robots that can adapt to various evironments in real time, a systematic way of designing it is still lacking. We tackle this problem through the development of a two-dimensional sheet-like robot that can obtain rich sensory information. Recently we extended the curvature derivative control of the snake-like robot to a two-dimensional bodily structure, and showed that the simulated sheet-like robot could locomote on irregular terrain; however, environment to which it can adapt was limited. In this paper, we add a local sensory feedback mechanism that uses local pressure on the body surface to the previous control scheme to increase adaptability to environments. Simulation results show that the sheet-like robot can locomote effectively on unstructured terrain by exploiting scaffolds. We also show a physical robot now developing.
