Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion
Publication Date
February 02, 2017
Authors
Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, et al
Volume
12
Issue
2
Pages
e0171421
DOI
https://dx.plos.org/10.1371/journal.pone.0171421
Publisher URL
http://journals.plos.org/plosone/article?id=10.1371%2Fjournal.pone.0171421
Scopus
85011655878
Mendeley
http://www.mendeley.com/research/decentralized-control-scheme-myriapod-robot-inspired-adaptive-resilient-centipede-locomotion
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Mendeley | Further Information

{"title"=>"Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion", "type"=>"journal", "authors"=>[{"first_name"=>"Kotaro", "last_name"=>"Yasui", "scopus_author_id"=>"57190276774"}, {"first_name"=>"Kazuhiko", "last_name"=>"Sakai", "scopus_author_id"=>"57193213999"}, {"first_name"=>"Takeshi", "last_name"=>"Kano", "scopus_author_id"=>"36802069300"}, {"first_name"=>"Dai", "last_name"=>"Owaki", "scopus_author_id"=>"16550460300"}, {"first_name"=>"Akio", "last_name"=>"Ishiguro", "scopus_author_id"=>"7006359181"}], "year"=>2017, "source"=>"PLoS ONE", "identifiers"=>{"isbn"=>"1111111111", "doi"=>"10.1371/journal.pone.0171421", "scopus"=>"2-s2.0-85011655878", "sgr"=>"85011655878", "issn"=>"19326203", "pui"=>"614278816"}, "id"=>"38473358-bc0c-345d-b3cb-c72c35dd6684", "abstract"=>"Recently, myriapods have attracted the attention of engineers because\nmobile robots that mimic them potentially have the capability of\nproducing highly stable, adaptive, and resilient behaviors. The major\nchallenge here is to develop a control scheme that can coordinate their\nnumerous legs in real time, and an autonomous decentralized control\ncould be the key to solve this problem. Therefore, we focus on real\ncentipedes and aim to design a decentralized control scheme for myriapod\nrobots by drawing inspiration from behavioral experiments on centipede\nlocomotion under unusual conditions. In the behavioral experiments, we\nobserved the response to the removal of a part of the terrain and to\namputation of several legs. Further, we determined that the ground\nreaction force is significant for generating rhythmic leg movements; the\nmotion of each leg is likely affected by a sensory input from its\nneighboring legs. Thus, we constructed a two-dimensional model wherein a\nsimple local reflexive mechanism was implemented in each leg. We\nperformed simulations by using this model and demonstrated that the\nmyriapod robot could move adaptively to changes in the environment and\nbody properties. Our findings will shed new light on designing adaptive\nand resilient myriapod robots that can function under various\ncircumstances.", "link"=>"http://www.mendeley.com/research/decentralized-control-scheme-myriapod-robot-inspired-adaptive-resilient-centipede-locomotion", "reader_count"=>8, "reader_count_by_academic_status"=>{"Student > Doctoral Student"=>1, "Student > Ph. D. Student"=>3, "Student > Master"=>3, "Professor > Associate Professor"=>1}, "reader_count_by_user_role"=>{"Student > Doctoral Student"=>1, "Student > Ph. D. Student"=>3, "Student > Master"=>3, "Professor > Associate Professor"=>1}, "reader_count_by_subject_area"=>{"Engineering"=>3, "Psychology"=>1, "Computer Science"=>1, "Economics, Econometrics and Finance"=>1, "Unspecified"=>1, "Agricultural and Biological Sciences"=>1}, "reader_count_by_subdiscipline"=>{"Engineering"=>{"Engineering"=>3}, "Psychology"=>{"Psychology"=>1}, "Economics, Econometrics and Finance"=>{"Economics, Econometrics and Finance"=>1}, "Computer Science"=>{"Computer Science"=>1}, "Agricultural and Biological Sciences"=>{"Agricultural and Biological Sciences"=>1}, "Unspecified"=>{"Unspecified"=>1}}, "reader_count_by_country"=>{"Iran"=>1, "Germany"=>1}, "group_count"=>1}

Scopus | Further Information

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