Decentralized Control of Serpentine Locomotion That Enables Well-balanced Coupling between Phasic and Tonic Control

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Animals' adaptive locomotion is realized by properly adjusting the phase relationship and the spatial distribution of their muscle tonus among their large number of degrees of freedom. We aimed to clarify an autonomous decentralized control mechanism underlying such locomotion by focusing on snakes that exhibit dexterous locomotion in spite of its simple one-dimensional body structure. First, we constructed a model that can reproduce the snake locomotion. We confirmed the validity of the model through simulations. Furthermore, we validated the model in the real world by developing a snake-like robot.