2A1-K03 Considering Control Scheme of Snake-like Robot Sticking on the Concept of Autonomous Decentralized Control : Control Law Design Based on Variational Principle and Reaction-Diffusion Equation(Robotic Systems Based on Autonomous Decentralized Architecture)

Abstract

Autonomous decentralized control is a key concept for building robots capable of exhibiting adaptive behavior under unpredictable real world constraints. However, it is still unclear how to generate non-trivial macroscopic functionalities of an entire system using only locally available information. In this study, we focus on the slithering locomotion of snake-like robot as a case study, and show an answer to this problem based on variational principle and reaction-diffution equation.