Abstract
Animals use various locomotion patterns, such as undulatory, peristaltic, and legged locomotion, reasonably and appropriately to adapt to a wide range of environments. The goal of this study is to design a decentralized control scheme that can generate multiple locomotion patterns in response to environments. We draw inspiration from our previous works on snake and earthworm locomotion and propose a decentralized control scheme capable of generating undulatory and peristaltic locomotion. We demonstrate via simulations that undulatory and peristaltic locomotion are used appropriately to adapt to various environments in real time.
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Acknowledgments
This work was supported by Japan Science and Technology Agency, CREST (JPMJCR14D5), and the Casio Science Promotion Foundation.
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Kano, T., Matsui, N., Ishiguro, A. (2018). Decentralized Control Scheme for Coupling Between Undulatory and Peristaltic Locomotion. In: Manoonpong, P., Larsen, J., Xiong, X., Hallam, J., Triesch, J. (eds) From Animals to Animats 15. SAB 2018. Lecture Notes in Computer Science(), vol 10994. Springer, Cham. https://doi.org/10.1007/978-3-319-97628-0_8
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DOI: https://doi.org/10.1007/978-3-319-97628-0_8
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