多様なロコモーション様式を発現可能なヘビ型ロボットの自律分散制御

抄録

Snakes have various locomotion patterns and change them in response to the situations controlling their elongated body. The ultimate goal of this study is to develop a decentralized control scheme for snake-like robot that can reproduce the various locomotion patterns. For this purpose, in our previous study, we proposed several control schemes based on Tegotae, a concept describing how well a perceived reaction matches an expectation. Although these control schemes succeeded in reproducing some of the locomotion patterns, variety of the locomotion patterns were still limited. To address this issue, in this study, we propose a decentralized control scheme for snake-like robot that can reproduce the versatile locomotion patterns by integrating the essence of the control schemes we proposed previously.