Abstract
Although autonomous decentralized control could be the key to understand the mechanism of adaptive and resilient animal locomotion, its mechanism has not yet been clearly understood. To tackle this problem, we focused on an ophiuroid as our model and proposed a decentralized control scheme in which "TEGOTAE", a Japanese word meaning reaction after performing some action, was fully exploited. In this study, we examined the applicability of the proposed control scheme to other types of animal locomotion. We here focused on peristaltic locomotion of earthworms, and designed a decentralized control scheme on the basis of "TEGOTAE". We verified the validity of the proposed control scheme via simulation.
