Actuation Frequency-dependent Automatic Behavioral Switching on Caterpillar-inspired Crawling Robot

被引：0
|
作者：
Umedachi, Takuya [1 ]
Shimizu, Masahiro [2 ]
Kawahara, Yoshihiro [1 ]
机构：
[1] Univ Tokyo, Grad Sch Informat Sci & Technol, Bunkyo Ku, 7-3-1 Hongo, Tokyo 1138656, Japan
[2] Osaka Univ, Grad Sch Engn Sci, 1-3 Machikaneyama, Toyonaka, Osaka 5608531, Japan
来源：
2019 2ND IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT 2019) | 2019年
关键词：
D O I：
10.1109/robosoft.2019.8722785
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A behavioral switch is critical for both real animals and machines to generate adaptive behavior according to the dynamics (i.e., viscoelasticity and deformability of the body) and the situation encountered. Soft-bodied robots innately have the capability since a soft-body possesses the ultimate number of degrees of freedom in the sense that anywhere of the deformable body can be bent (act as joints), compressed, extended and twisted. This paper proposes to exploit the multimodal deformability for behavioral diversity and switching the behavior by turning the actuation frequency of a motor-tendon-driven caterpillar-inspired soft-bodied robot.
引用
收藏
页码：167 / 171
页数：5
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