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• W2161653702 abstract "Snakes actively utilize irregularities in terrains and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying such functionalities of snakes on the basis of a synthetic approach. We construct a model of a serpentine robot with viscoelastic properties, and we design an autonomous decentralized control scheme that employs local sensory feedback based on the muscle length and strain of the body, the latter of which is generated by the body softness. Simulation results show that the robot exhibits locomotion effectively by utilizing scaffolds such as high-friction areas and pegs, which is in fairly good agreement with biological findings." @default.
• W2161653702 created "2016-06-24" @default.
• W2161653702 creator A5019169275 @default.
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• W2161653702 date "2011-05-01" @default.
• W2161653702 modified "2023-09-25" @default.
• W2161653702 title "Decentralized control of scaffold-assisted serpentine locomotion that exploits body softness" @default.
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• W2161653702 doi "https://doi.org/10.1109/icra.2011.5980465" @default.
• W2161653702 hasPublicationYear "2011" @default.
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