1A1-V03 Development of Decentralized-Controlled Snake-like Robot That Exhibits Multiple Locomotion Patterns(Robotic systems based on autonomous decentralized architecture)

Abstract

Snakes exhibit adaptive and versatile behavior under unpredictable real-world constraints. Although numerous snake-like robots have been developed thus far, they could not reproduce the innate behavior of real snakes. To address this issue, we previously proposed an autonomous decentralized control scheme in which three-dimensionally effect is added to curvature derivative control. In this study, we developed a robot to investigate the validity of the proposed control scheme.