Decentralized-controlled multi-terrain robot inspired by flatworm locomotion
Decentralized-controlled multi-terrain robot inspired by flatworm locomotion
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DOI：
10.1080/01691864.2013.878667
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发表时间：
2014-02
影响因子：
2
通讯作者：
Takeshi Kano;Yuki Watanabe;Fuyuhiko Satake;A. Ishiguro
中科院分区：
文献类型：
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作者：
Takeshi Kano;Yuki Watanabe;Fuyuhiko Satake;A. Ishiguro
几种动物通过实时适应环境而在地面和水中等地形上移动的能力激发了多地形机器人的发展，但它们的工作区域有限。因此，我们以前开发了一个自主的分散控制方案的机器人的基础上的脚手架剥削机制的启发扁形虫;模拟表明，机器人可以在各种不规则的地形移动。在这里，通过真实世界的实验，我们表明，使用所提出的控制方案的机器人可以在地面上移动（平均米/秒），并在水中（平均米/秒），通过有效地推动其身体对环境功能的脚手架。图形摘要
The ability of several animals to move over terrains such as ground and water by real-time adaptation to the environment has inspired the development of multi-terrain robots, but their working area is limited. Therefore, we previously developed an autonomous decentralized control scheme for a robot based on a scaffold-exploitation mechanism inspired by flatworms; simulations showed that the robot could move over various irregular terrains. Here, via real-world experiments, we show that the robot using the proposed control scheme can move over ground ( m/s on average) and in water ( m/s on average) by effectively pushing its body against environmental features as scaffolds. Graphical Abstract