手応え制御によるヘビのコンセルティーナロコモーションの再現

抄録

Snakes can change their locomotion patterns in response to the environments in real time. Inspired by this ability, various snake-like robots have been developed thus far. However, they could not reproduce the innate behavior of real snakes. To address this issue, in our previous work, we proposed an autonomous decentralized control scheme based on TEGOTAE, a Japanese concept that describes relationship between intended action and resulting reaction, and succeeded in realizing scaffold-based locomotion, a locomotion pattern observed in unstructured environments, via real-world experiments. However, applicability of this control scheme to other locomotion patterns is still unclear. In this study, we demonstrated via simulations that concertina locomotion observed in narrow spaces can be reproduced by using the TEGOTAE-based control scheme.