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Stable Heteroclinic Channels for Slip Control of a Peristaltic Crawling Robot

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Biomimetic and Biohybrid Systems (Living Machines 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8064))

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Abstract

Stable Heteroclinic Channels (SHCs) are continuous dynamical systems capable of generating rhythmic output of varying period in response to sensory inputs or noise. This feature can be used to control state transitions smoothly. We demonstrate this type of controller in a dynamic simulation of a worm-like robot crawling through a pipe with a narrowing in radius. Our SHC controller allows for improved adaptation to a change in pipe diameter with more rapid movement and less energy loss. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Case Western Reserve University, 10900 Euclid Ave, Cleveland, Ohio, 44106-7222, USA

    Kathryn A. Daltorio, Andrew D. Horchler & Roger D. Quinn

  2. Department of Biology, Case Western Reserve University, 10900 Euclid Ave, Cleveland, Ohio, 44106, USA

    Kendrick M. Shaw & Hillel J. Chiel

  3. Department of Neurosciences, Case Western Reserve University, 10900 Euclid Ave, Cleveland, Ohio, 44106, USA

    Kendrick M. Shaw & Hillel J. Chiel

  4. The Department of Biomedical Engineering, Case Western Reserve University, 10900 Euclid Ave, Cleveland, Ohio, 44106, USA

    Kendrick M. Shaw & Hillel J. Chiel

Authors
  1. Kathryn A. Daltorio
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  2. Andrew D. Horchler
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  3. Kendrick M. Shaw
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  4. Hillel J. Chiel
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  5. Roger D. Quinn
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Editor information

Editors and Affiliations

  1. University of Sheffield, UK

    Nathan F. Lepora  & Tony J. Prescott  & 

  2. University of Pompeau Fabra, Barcelona, Spain

    Anna Mura

  3. Imperial College, London, UK

    Holger G. Krapp

  4. Catalan Institution for Research and Advanced Studies, University of Pompeau Fabra, Barcelona, Spain

    Paul F. M. J. Verschure

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Daltorio, K.A., Horchler, A.D., Shaw, K.M., Chiel, H.J., Quinn, R.D. (2013). Stable Heteroclinic Channels for Slip Control of a Peristaltic Crawling Robot. In: Lepora, N.F., Mura, A., Krapp, H.G., Verschure, P.F.M.J., Prescott, T.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2013. Lecture Notes in Computer Science(), vol 8064. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39802-5_6

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  • DOI: https://doi.org/10.1007/978-3-642-39802-5_6

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-39801-8

  • Online ISBN: 978-3-642-39802-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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