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A Soft-Bodied Snake-Like Robot That Can Move on Unstructured Terrain

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Book cover 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

Snakes utilize terrain irregularities and attain propulsion force by pushing their bodies against scaffolds. We have previously proposed a local reflexive mechanism of snake locomotion that exploits its body softness. In this study, we develop a soft-bodied snake-like robot to investigate the validity of the proposed mechanism in the real world.

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References

  1. Moon, B.R., Gans, C.: Kinematics, muscular activity, and propulsion in gopher snakes. J. Exp. Biol. 201, 2669–2684 (1998)

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  2. Kano, T., Sato, T., Kobayashi, R., Ishiguro, A.: Decentralized control of scaffold-assisted serpentine locomotion that exploits body softness. In: Proc. of IEEE/RSJ Int. Conf. Robot. Auto., pp. 5129–5134 (2011)

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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

    Takahide Sato, Takeshi Kano, Akihiro Hirai & Akio Ishiguro

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

    Akio Ishiguro

Authors
  1. Takahide Sato
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  2. Takeshi Kano
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  3. Akihiro Hirai
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  4. Akio Ishiguro
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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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Sato, T., Kano, T., Hirai, A., Ishiguro, A. (2012). A Soft-Bodied Snake-Like Robot That Can Move on Unstructured Terrain. 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_56

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  • DOI: https://doi.org/10.1007/978-3-642-31525-1_56

  • 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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