Evaluation of snake robot's behavior using randomized EARLI in crowded obstacles

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479941995
DOIs
Publication statusPublished - Jan 21 2014
Event12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Hokkaido, Japan
Duration: Oct 27 2014Oct 30 2014

Publication series

Name12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings

Other

Other12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014
CountryJapan
CityHokkaido
Period10/27/1410/30/14

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Keywords

  • lateral inhibition
  • obstacle aided locomotion
  • snake robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Safety, Risk, Reliability and Quality

Cite this

Kamegawa, T., Kuroki, R., & Gofuku, A. (2014). Evaluation of snake robot's behavior using randomized EARLI in crowded obstacles. In 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings [7017666] (12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 - Symposium Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2014.7017666