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

• Project/Area Number: 22760310
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Control engineering
• Research Institution: Tohoku University
• Principal Investigator: KANO Akeshi 東北大学, 電気通信研究所, 助教 (80513069)
• Project Period (FY): 2010 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000); Fiscal Year 2011: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000); Fiscal Year 2010: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
• Keywords: 自律分散制御 / ヘビ型ロボット / 位相制御・筋緊張制御 / ヘビ / 結合振動子 / ロボット / 生物ロコモーション

Research Abstract

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.

Research Products

• [Journal Article] Decentralized control scheme for effective coordination of phasic and tonic control in a snake-like robot (2012)
  • Author(s): Takahide Sato, Takeshi Kano, Akio Ishiguro
  • Journal Title: Bioinspiration and Biomimetics Volume: 7 Issue: 1 Pages: 16005-16005
  • DOI: 10.1088/1748-3182/7/1/016005
  • Peer Reviewed
• [Journal Article] On the Applicability of the Decentralized Control Mechanism Extracted from True Slime Mold-A Robotic Case Study with a Serpentine Robot- (2011)
  • Author(s): Takahide Sato, Takeshi Kano, Akio Ishiguro
  • Journal Title: Bioinspiration and Biomimetics Volume: 6 Issue: 2 Pages: 26006-26006
  • DOI: 10.1088/1748-3182/6/2/026006
  • Peer Reviewed
• [Presentation] 非構造環境下での這行が可能なヘビ型ロボットの自律分散制御 (2011)
  • Author(s): 加納剛史, 佐藤貴英, 小林亮, 石黒章夫
  • Organizer: 第12回計測自動制御学会システムインテグレーション部門講演会(SI2011)
  • Place of Presentation: 京都
  • Year and Date: 2011-12-23
• [Presentation] Efficient Undulating Locomotion Driven by a Decentralized Control That Fully Exploits Multi-articular Muscles (2011)
  • Author(s): T. Kano, T. Sato, R. Kobayashi, and A. Ishiguro
  • Organizer: The 5th International Symposium on Adaptive Motion in Animals and Machines (AMAM2011)
  • Place of Presentation: 淡路, 日本
  • Year and Date: 2011-10-12
• [Presentation] Efficient Undulating Locomotion Driven by a Decentralized Control That Fully Exploits Multi-articular Muscles (2011)
  • Author(s): T.Kano, T.Sato, R.Kobayashi, A.Ishiguro
  • Organizer: The 5^<th> International Symposium on Adaptive Motion in Animals and Machines (AMAM2011)
  • Place of Presentation: 淡路,日本
  • Year and Date: 2011-10-12
• [Presentation] Decentralized Control of Multi-articular Snake-like Robot for Efficient Locomotion (2011)
  • Author(s): T. Kano, T. Sato, R. Kobayashi, and A. Ishiguro
  • Organizer: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.(IROS 2011)
  • Place of Presentation: サンフランシスコ, アメリカ
  • Year and Date: 2011-09-27
• [Presentation] A snake-like Robot Driven by a Decentralized Control That Enables Both Phasic and Tonic Control (2011)
  • Author(s): T. Sato, T. Kano, and A. Ishiguro
  • Organizer: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.(IROS 2011)
  • Place of Presentation: サンフランシスコ, アメリカ
  • Year and Date: 2011-09-27
• [Presentation] Decentralized Control of Multi-articular Snake-like Robot for Efficient Locomotion (2011)
  • Author(s): T.Kano, T.Sato, R.Kobayashi, A.Ishiguro
  • Organizer: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2011)
  • Place of Presentation: サンフランシスコ,アメリカ
  • Year and Date: 2011-09-27
• [Presentation] 高効率推進を可能とする多関節ヘビ型ロボットの自律分散制御則 (2011)
  • Author(s): 加納剛史, 佐藤貴英, 小林亮, 石黒章夫
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会(ROBOMEC2011)
  • Place of Presentation: 岡山
  • Year and Date: 2011-05-27
• [Presentation] Decentralized Control of Scaffold-assisted Serpentine Locomotion That Exploits Body Softness (2011)
  • Author(s): T. Kano, T. Sato, R. Kobayashi, and A. Ishiguro
  • Organizer: 2011 IEEE International Conference on Robotics and Automation (ICRA 2011)
  • Place of Presentation: 上海, 中国
  • Year and Date: 2011-05-12
• [Presentation] Decentralized Control of Scaffold-assisted Serpentine Locomotion That Exploits Body Softness (2011)
  • Author(s): T.Kano, T.Sato, R.Kobayashi, A.Ishiguro
  • Organizer: 2011 IEEE International Conference on Robotics and Automation (ICRA 2011)
  • Place of Presentation: 上海,中国
  • Year and Date: 2011-05-12
• [Presentation] ヘビのロコモーションから学ぶ生物の適応的運動機能の発現原理～位相制御と筋緊張制御の有機的整合を可能とする自律分散制御則～ (2010)
  • Author(s): 加納剛史
  • Organizer: 日本機械学会ロボメカ部門東北支部特別講演会
  • Place of Presentation: 仙台
  • Year and Date: 2010-11-19
• [Presentation] ヘビのロコモーションから学ぶ生物の適応的運動機能の発現原理～位相制御と筋緊張制御の有機的整合を可能とする自律分散制御則～ (2010)
  • Author(s): 加納剛史
  • Organizer: 日本機械学会ロボメカ部門東北支部特別講演会
  • Place of Presentation: 仙台(招待講演)
  • Year and Date: 2010-11-19
• [Presentation] 位相制御と筋緊張制御に着目した制御系と機構系の連関様式-ヘビ型ロボットを用いた事例研究- (2010)
  • Author(s): 加納剛史, 佐藤貴英, 小林亮, 石黒章夫
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会(ROBOMEC2010)
  • Place of Presentation: 旭川
  • Year and Date: 2010-06-16
• [Remarks] T. Sato, T. Kano, and A. Ishiguro, A Snake-like Robot Driven by a Decentralized Control That Enables Both Phasic and Tonic Control, NTF Award for Entertainment Robots and Systems, IROS2011 (2011. 9. 29).