Tegotae-Based Control for Non-animal-like Locomotion: A Case Study with Trident Snake

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Tegotae-Based Control for Non-animal-like Locomotion: A Case Study with Trident Snake

Suzuki, Shura / Ishikawa, Masato

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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Document information

Title :

Tegotae-Based Control for Non-animal-like Locomotion: A Case Study with Trident Snake

Additional title:

Lect. Notes in Networks, Syst.

Contributors:

Cascalho, José M. (editor) / Tokhi, Mohammad Osman (editor) / Silva, Manuel F. (editor) / Mendes, Armando (editor) / Goher, Khaled (editor) / Funk, Matthias (editor) / Suzuki, Shura (author) / Ishikawa, Masato (author)

Conference:

Climbing and Walking Robots Conference ; 2022 ; Ponta Delgada, Portugal September 12, 2022 - September 14, 2022

Published in:

Robotics in Natural Settings ; Chapter : 8 ; 54-60

Lecture Notes in Networks and Systems ; 530

Publication date :

2022-08-25

Size :

7 pages

ISBN :

978-3-031-15226-9 , 978-3-031-15225-2

ISSN :