抄録
Snakes actively utilize terrain irregularities and move effectively by pushing their body against the scaffolds that they encounter. Clarifying the underlying mechanism will help develop robots that can work well in unstructured environments. In our previous work, we proposed a decentralized control scheme consisting of curvature derivative control and local pressure reflex, and demonstrated that our snake-like robot with the proposed scheme moved effectively by exploiting pegs. However, it still had a problem that the robot could not move effectively depending on the alignment of pegs. We here improved our previous scheme. In the improved scheme, reaction forces from environment are evaluated in real time and those beneficial for propulsion of the body are selectively exploited. The improved scheme could bring a breakthrough for achieving scaffold-based locomotion.
