Abstract
Most previous robots were designed to work in predefined environments and irregularities existing in the environment interfered with their operation. To tackle this problem, we focus on the locomotion of snakes that actively utilize terrain irregularities and move by effectively pushing their body against the scaffolds that they encounter. We have previously proposed a decentralized control scheme for a snake-like robot, which consists of only two local sensory feedback mechanisms. In this paper, we develop a snakelike robot and demonstrate through experiments that the robot with the proposed control scheme moves effectively by pushing its body against pegs.
