Efficient Undulating Locomotion Driven by a Decentralized Control That Fully Exploits Multi-articular Muscles
نویسندگان
چکیده
To clarify the mechanism of multi-articular muscles that contributes to the emergence of animal behavior, we focus on the locomotion of a snake. Analyses on the basis of the continuum model show that the body propels efficiently as the number of segments spanned by each muscle increases. On the basis of this result, we propose a decentralized control scheme for the efficient locomotion of a multi-articular serpentine robot, and we confirm its validity by simulations.
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