TY - GEN
T1 - Evaluation of snake robot's behavior using randomized EARLI in crowded obstacles
AU - Kamegawa, Tetsushi
AU - Kuroki, Ryoma
AU - Gofuku, Akio
PY - 2014/1/21
Y1 - 2014/1/21
N2 - We have proposed EARLI (Extended Asymmetrical Reverse Lateral Inhibition) which is a behavior of snake robot's obstacle aided locomotion. The idea of EARLI starts with an original idea of lateral inhibition. Joints rotate in reverse direction compared with the original lateral inhibition. Information of contact affects not only adjacent joints but also a couple of neighboring joints away from the contacting link. Distribution of torque are empirically set asymmetrically in order to propel a snake robot forward. The algorithm of EARLI is implemented to a model of snake robot in ODE (Open Dynamics Engine) to see its behavior and to verify its effectiveness. In this paper, we introduce randomized EARLI to avoid getting stuck in crowded obstacles when the snake robot uses only one pattern of EARLI. In addition, efficiency of the snake robot's locomotion is evaluated by measuring power of snake robot's joints. It is verified that the snake robot can move in crowded obstacles effectively by using random EARLI behavior.
AB - We have proposed EARLI (Extended Asymmetrical Reverse Lateral Inhibition) which is a behavior of snake robot's obstacle aided locomotion. The idea of EARLI starts with an original idea of lateral inhibition. Joints rotate in reverse direction compared with the original lateral inhibition. Information of contact affects not only adjacent joints but also a couple of neighboring joints away from the contacting link. Distribution of torque are empirically set asymmetrically in order to propel a snake robot forward. The algorithm of EARLI is implemented to a model of snake robot in ODE (Open Dynamics Engine) to see its behavior and to verify its effectiveness. In this paper, we introduce randomized EARLI to avoid getting stuck in crowded obstacles when the snake robot uses only one pattern of EARLI. In addition, efficiency of the snake robot's locomotion is evaluated by measuring power of snake robot's joints. It is verified that the snake robot can move in crowded obstacles effectively by using random EARLI behavior.
KW - lateral inhibition
KW - obstacle aided locomotion
KW - snake robot
UR - http://www.scopus.com/inward/record.url?scp=84946689210&partnerID=8YFLogxK
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U2 - 10.1109/SSRR.2014.7017666
DO - 10.1109/SSRR.2014.7017666
M3 - Conference contribution
AN - SCOPUS:84946689210
T3 - 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings
BT - 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014
Y2 - 27 October 2014 through 30 October 2014
ER -