2A1-K04 Snake-like Robot Driven by Decentralized Control for Scaffold-based Locomotion : Hardware Realization(Robotic Systems Based on Autonomous Decentralized Architecture)

Abstract

Snakes activity utilize terrains irregularities and attain propulsion force by pushing their body against scaffolds. Our objective is to clarify the mechanism underlying this locomotion. We have previously proposed an autonomous decentralized control scheme in which the curvature derivative control method is combined with a reflexive mechanism using local pressure on the body wall, and have confirmed its validity via simulation. In this study, we develop a physical robot to investigate the validity of the proposed control scheme in the real world.