書誌事項
- タイトル別名
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- Experimental Verification of “TEGOTAE-based Control” for a Snake-like Robot
説明
<p>Snakes actively utilize terrain irregularities and move effectively by pushing their body against the scaffolds that they encounter. Clarifying the underlying mechanism will help develop robots that can work well in unstructured real-world environments. Although several studies have been conducted to reproduce the above behavior with robots, they still had a problem that the robots could not move effectively depending on the alignment of pegs. To address this issue, we previously proposed an autonomous decentralized control scheme based on TEGOTAE, a Japanese concept describing how well a perceived reaction matches an expectation. In this scheme, reaction forces from environment are evaluated in real time and those beneficial for propulsion of the body are selectively exploited. In this paper, we performed experiments using a snake-like robot to investigate the validity of the proposed control scheme.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2016 (0), 1A2-03b4-, 2016
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205929290624
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- NII論文ID
- 130007226427
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
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- 抄録ライセンスフラグ
- 使用不可