Adaptive control method for an undulatory robot inspired from a Leech's nervous system

摘要: Many mobile robots using undulatory locomotion have been developed for search or rescue operations in narrow dangerous places where people cannot enter, because can be employed various environments. However, an environmental change will require a robot to the pattern of locomotion. Recent studies showed that leech changes its depending on environment, and this is derived from sensory feedback muscle strain central nervous system. We propose adaptive control method inspired by leech's First, we make clear role behavior numerical model proposed preceding study. After that, construct simplified simulates Finally, evaluate effectiveness our with model. Our study achieves regulation body load due fluid despite viscosity. Moreover, reproduced living