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Decentralized Control Scheme That Enables Scaffold-Based Peristaltic Locomotion

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Biomimetic and Biohybrid Systems (Living Machines 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7375))

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Abstract

We propose an autonomous decentralized control scheme of an earthworm-like robot for its scaffold-based peristaltic locomotion, on the basis of an analysis using a continuum model. We verify its validity through simulations.

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References

  1. Stephenson, J.: The Oligochaeta. Clarendon Press, Oxford (1930)

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Author information

Authors and Affiliations

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

    Akio Ishiguro, Kazuyuki Yaegashi & Takeshi Kano

  2. Japan Science and Technology Agency, CREST, 7 Goban-cho, Chiyoda-ku, Tokyo, 102-0075, Japan

    Akio Ishiguro & Ryo Kobayashi

  3. Department of Mathematical and Life Sciences, Hiroshima University, 1-3-1 Kagamiyama, Higashihiroshima, 739-8526, Japan

    Ryo Kobayashi

Authors
  1. Akio Ishiguro
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  2. Kazuyuki Yaegashi
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  3. Takeshi Kano
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  4. Ryo Kobayashi
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Editor information

Editors and Affiliations

  1. Department of Psychology, Adaptive Behaviour Research Group, University of Sheffield, Sheffield, UK

    Tony J. Prescott  & Nathan F. Lepora  & 

  2. Universitat Pompeu Fabra, Barcelona, Spain

    Anna Mura  & Paul F. M. J. Verschure  & 

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© 2012 Springer-Verlag Berlin Heidelberg

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Ishiguro, A., Yaegashi, K., Kano, T., Kobayashi, R. (2012). Decentralized Control Scheme That Enables Scaffold-Based Peristaltic Locomotion. In: Prescott, T.J., Lepora, N.F., Mura, A., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2012. Lecture Notes in Computer Science(), vol 7375. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31525-1_42

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  • DOI: https://doi.org/10.1007/978-3-642-31525-1_42

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-31524-4

  • Online ISBN: 978-3-642-31525-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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