Abstract
Although numerous robots have been developed inspired by animal locomotion, they could not reproduce adaptive and resilient behavior of real animals. To tackle this problem, we adopted ophiuroids as our model. In our previous work, we focused on the locomotion of an ophiuroid whose arms were shortened or removed to investigate the inter-arm coordination mechanism, and proposed a decentralized control scheme on the basis of "TEGOTAE", a Japanese word that means reaction after the generation of some action. In this study, we proposed a decentralized control scheme that enables well-balanced coupling between inter- and intra-limb coordination by extending our previous control scheme. The validity of the proposed control scheme was confirmed via simulation.
