Abstract
Most robots are vulnerable to the change in their own morphology such as failures. To tackle this problem, we focus on ophiuroids, which have simple body with pentaradial symmetry. Although they are composed of primitive decentralized nervous system, they can move by self-organizing their arm movements adequately even when the arms are arbitrarily cut off. As a first step, we concentrate on an ophiuroid with one arm and aim to clarify its locomotion mechanism. We propose a simple autonomous decentralized control scheme on the basis of behavioral experiments, and confirm its validity via simulations.
