Decentralized Control Scheme for Coupling Between Undulatory and Peristaltic Locomotion

DOI

Description

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.

Details 詳細情報について

Report a problem

Back to top