Summary
the 2014 International Symposium on Nonlinear Theory and its Applications
2014
Session Number:A1L-B
Session:
Number:A1L-B1
Simple Decentralized Control Scheme Can Reproduce Versatile Gait Patterns of Snakes
Takeshi Kano, Hisashi Date, Akio Ishiguro,
pp.20-23
Publication Date:2014/9/14
Online ISSN:2188-5079
Summary:
Snakes change their gait patterns according to the circumstances encountered. The objective of this study was to understand the decentralized control mechanism underlying this adaptive and versatile locomotion via modeling and simulations. We introduced a three-dimensional effect to the curvature derivative control proposed previously and demonstrated through simulations that various gait patterns can be reproduced via only a change in a small number of parameters.