Tegotae-based control is a bio-inspired control scheme that can reproduce the behaviors of various animals with high resilience and robustnes. However, the robot application of Tegotae-based control has primarily focused on animal-like structures without considering applications with non-animal-like structures. In this study, we investigated the applicability of Tegotae-based control to a non-animal-like structure. This paper presents a case study of a trident snake with three actuated limbs radially, with each foot tip having a passive wheel. Robot experiments showed that rotational and translational movements emerged when using the Tegotae-based controller.
Tegotae-Based Control for Non-animal-like Locomotion: A Case Study with Trident Snake
Lect. Notes in Networks, Syst.
Climbing and Walking Robots Conference ; 2022 ; Ponta Delgada, Portugal September 12, 2022 - September 14, 2022
25.08.2022
7 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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