2A1-O03 ヘビのコンセルティーナロコモーションに内在する自律分散制御則の解明(自律分散型ロボットシステム)

Abstract

Snakes change their gait patterns in response to the environment. Elucidating the mechanism underlying this behavior lead to the development of robots that work in a wide range of environments. We have previously modeled the snake locomotion on the basis of autonomous decentralized control and demonstrated through simulations that the gait transition could be achieved only via a change in a small number of parameters. However, the previous model could not reproduce concertina and rectilinear locomotion, which are observed when snakes move in narrow space. In this study, we demonstrate through the simulation that concertina locomotion can be reproduced by an autonomous decentralized control scheme in which curvature derivative control is combined with a simple local reflexive mechanism.