Abstract
Tegotae-based control is a bio-inspired control scheme that can reproduce the behaviors of various animals with high resilience and robustnes. However, the robot application of Tegotae-based control has primarily focused on animal-like structures without considering applications with non-animal-like structures. In this study, we investigated the applicability of Tegotae-based control to a non-animal-like structure. This paper presents a case study of a trident snake with three actuated limbs radially, with each foot tip having a passive wheel. Robot experiments showed that rotational and translational movements emerged when using the Tegotae-based controller.
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Acknowledgement
The authors thank Dr. Kotaro Yasui of Tohoku University for his helpful suggestions. This work was supported by a Grant-in-Aid for JSPS Research Fellows (No. 22J00076) and a JSPS Grant-in-Aid for Scientific Research (B) 21H01276.
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Suzuki, S., Ishikawa, M. (2023). Tegotae-Based Control for Non-animal-like Locomotion: A Case Study with Trident Snake. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_8
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DOI: https://doi.org/10.1007/978-3-031-15226-9_8
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