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Decentralized Control Scheme for Myriapod Locomotion That Exploits Local Force Feedback

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Biomimetic and Biohybrid Systems (Living Machines 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9793))

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Abstract

Legged animals exhibit adaptive and resilient locomotion through their inter-limb coordination. Our long-term goal of this study is to develop a systematic design scheme for legged robots by elucidating the inter-limb coordination mechanism of various legged animals from a unified viewpoint. As a preliminary step towards this, we here focus on millipedes. We performed behavioral experiments on a terrain with gap, and found that legs do not tend to move without the ground contact. Based on this qualitative finding, we proposed a decentralized control scheme using local force feedback.

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References

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Acknowledgments

This work was supported by Japan Science and Technology Agency, CREST. The authors would like to thank Kazuhiko Sakai of Research Institute of Electrical Communication of Tohoku University.

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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, Kotaro Yasui, Dai Owaki & Akio Ishiguro

  2. Japan Science and Technology Agency, CREST, 4-1-8 Honcho, Kawaguchi, Saitama, 332-0012, Japan

    Akio Ishiguro

Authors
  1. Takeshi Kano
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  2. Kotaro Yasui
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  3. Dai Owaki
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  4. Akio Ishiguro
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Corresponding author

Correspondence to Takeshi Kano .

Editor information

Editors and Affiliations

  1. University of Bristol , Bristol, United Kingdom

    Nathan F. Lepora

  2. Universitat Pompeu Fabra , Barcelona, Spain

    Anna Mura

  3. University of Lincoln , London, United Kingdom

    Michael Mangan

  4. Universitat Pompeu Fabra , Barcelona, Spain

    Paul F.M.J. Verschure

  5. Heriot-Watt University , Edinburgh, United Kingdom

    Marc Desmulliez

  6. University of Sheffield , Sheffield, United Kingdom

    Tony J. Prescott

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© 2016 Springer International Publishing Switzerland

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Kano, T., Yasui, K., Owaki, D., Ishiguro, A. (2016). Decentralized Control Scheme for Myriapod Locomotion That Exploits Local Force Feedback. In: Lepora, N., Mura, A., Mangan, M., Verschure, P., Desmulliez, M., Prescott, T. (eds) Biomimetic and Biohybrid Systems. Living Machines 2016. Lecture Notes in Computer Science(), vol 9793. Springer, Cham. https://doi.org/10.1007/978-3-319-42417-0_45

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  • DOI: https://doi.org/10.1007/978-3-319-42417-0_45

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-42416-3

  • Online ISBN: 978-3-319-42417-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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