Decentralized Control Scheme for Coupling Between Undulatory and Peristaltic Locomotion
説明
Animals use various locomotion patterns, such as undulatory, peristaltic, and legged locomotion, reasonably and appropriately to adapt to a wide range of environments. The goal of this study is to design a decentralized control scheme that can generate multiple locomotion patterns in response to environments. We draw inspiration from our previous works on snake and earthworm locomotion and propose a decentralized control scheme capable of generating undulatory and peristaltic locomotion. We demonstrate via simulations that undulatory and peristaltic locomotion are used appropriately to adapt to various environments in real time.