1A1-V04 Development of Decentralized-Controlled Snake-like Robot That Exhibits Concertina Locomotion in Narrow Space(Robotic systems based on autonomous decentralized architecture)

Abstract

Snakes can exhibit various locomotion patterns in response to the environment. To elucidate the mechanism underlying this versatile locomotion, we previously proposed a model based on autonomous decentralized control and showed via simulation that it could reproduce various locomotion patterns. Further, we extended the model to reproduce concertina locomotion in narrow space as well. In this paper, we developed a robot to validate the extended model in real world.