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Published in:
2016 | OriginalPaper | Chapter
Realization of Snakes’ Concertina Locomotion by Using “TEGOTAE-Based Control”
Authors : Ryo Yoshizawa, Takeshi Kano, Akio Ishiguro
Published in: Biomimetic and Biohybrid Systems
Publisher: Springer International Publishing
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Abstract
Our goal is to develop snake-like robots that can exhibit versatile locomotion patterns in response to the environments like real snakes. Towards this goal, in our other work, we proposed an autonomous decentralized control scheme on the basis of a concept called TEGOTAE, a Japanese concept describing how well a perceived reaction matches an expectation, and then succeeded in reproducing scaffold-based locomotion, a locomotion pattern observed in unstructured environments, via real-world experiments. In this study, we demonstrated via simulations that concertina locomotion observed in narrow spaces can be also reproduced by using the proposed control scheme.