2P1-H04 Decentralized Control of Soft-bodied Robot Inspired by Ophiuroid Locomotion(Mobiligence)

Abstract

Our objective is to understand the autonomous decentralized control mechanism underlying animals' resilient behavior. For this purpose, we focus on ophiuroids, which self-organize their arm movements even when the arms are arbitrarily cut off, as a practical model. We have previously modeled the ophiuroid locomotion by focusing on the inter-limb coordination mechanism. However, the intra-limb coordination mechanism, which is crucial for realizing resilient locomotion, remains unclear. In this paper, we observe the locomotion of an ophiuroid with one arm, and on this basis, we design an autonomous decentralized control of an ophiuroid robot.