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3D Movement of Snake Robot Driven by Tegotae-Based Control

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Biomimetic and Biohybrid Systems (Living Machines 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11556))

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Abstract

Snakes possess versatile gait patterns and use them appropriately to adapt to various environments. To reproduce this ability, we have previously proposed a decentralized control scheme for snake robots based on Tegotae, a Japanese concept describing how well a perceived reaction matches an expectation. Here we extend our previous control scheme. Both pitch and yaw joints are embedded in a snake robot, and contact points with the ground as well as lateral bending of the body are controlled by the extended control scheme. We validate the proposed control scheme via real-world experiments with the robot developed.

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Acknowledgments

This work was supported by Japan Science and Technology Agency, CREST (JPMJCR14D5).

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Authors and Affiliations

  1. Research Institute of Electrical Communication, Tohoku University, 2-1-1 Katahira, Aoba-ku, Sendai, 980-8577, Japan

    Takeshi Kano, Naoki Matsui & Akio Ishiguro

Authors
  1. Takeshi Kano
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  2. Naoki Matsui
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  3. Akio Ishiguro
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Corresponding author

Correspondence to Takeshi Kano .

Editor information

Editors and Affiliations

  1. University of Bath, Bath, UK

    Uriel Martinez-Hernandez

  2. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Vasiliki Vouloutsi

  3. SPECS, Institute for Bioengineering of Catalonia, Barcelona, Spain

    Anna Mura

  4. University of Sheffield, Sheffield, UK

    Michael Mangan

  5. Osaka University, Suita, Japan

    Minoru Asada

  6. University of Sheffield, Sheffield, UK

    Tony J. Prescott

  7. SPECS, ICREA, BIST, Barcelona, Spain

    Paul F.M.J. Verschure

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Kano, T., Matsui, N., Ishiguro, A. (2019). 3D Movement of Snake Robot Driven by Tegotae-Based Control. In: Martinez-Hernandez, U., et al. Biomimetic and Biohybrid Systems. Living Machines 2019. Lecture Notes in Computer Science(), vol 11556. Springer, Cham. https://doi.org/10.1007/978-3-030-24741-6_35

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  • DOI: https://doi.org/10.1007/978-3-030-24741-6_35

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-24740-9

  • Online ISBN: 978-3-030-24741-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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