Abstract
In this paper, EARLI (Extended Asymmetrical Reverse Lateral Inhibition) is proposed for the snake robot's obstacle aided locomotion and behavior. The idea of EARLI starts with an original idea of lateral inhibition; although joints rotate in reverse direction compared with the original lateral inhibition; and information of contact affects not only adjacent joints but also a couple of neighboring joints away from a contacting link. Furthermore, distribution of adding torque is empirically set asymmetrically in order to propel the snake robot forward. The algorithm of EARLI is implemented to ODE (Open Dynamics Engine) to see its behavior in simulation environments and to verify its effectiveness. As a result, a behavior emerges in which the the snake robot is pushing obstacles for longer times and moving greater distances than when using original lateral inhibition. In addition, continuous pushing behavior is also observed when an obstacle is located behind the the snake robot.
| Original language | English |
|---|---|
| Title of host publication | 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012 |
| DOIs | |
| Publication status | Published - 2012 |
| Event | 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012 - College Station, TX, United States Duration: Nov 5 2012 → Nov 8 2012 |
Other
| Other | 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012 |
|---|---|
| Country | United States |
| City | College Station, TX |
| Period | 11/5/12 → 11/8/12 |
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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
Proposal of EARLI for the snake robot's obstacle aided locomotion. / Kamegawa, Tetsushi; Kuroki, Ryoma; Travers, Matthew; Choset, Howie.
2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012. 2012. 6523889.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Proposal of EARLI for the snake robot's obstacle aided locomotion
AU - Kamegawa, Tetsushi
AU - Kuroki, Ryoma
AU - Travers, Matthew
AU - Choset, Howie
PY - 2012
Y1 - 2012
N2 - In this paper, EARLI (Extended Asymmetrical Reverse Lateral Inhibition) is proposed for the snake robot's obstacle aided locomotion and behavior. The idea of EARLI starts with an original idea of lateral inhibition; although joints rotate in reverse direction compared with the original lateral inhibition; and information of contact affects not only adjacent joints but also a couple of neighboring joints away from a contacting link. Furthermore, distribution of adding torque is empirically set asymmetrically in order to propel the snake robot forward. The algorithm of EARLI is implemented to ODE (Open Dynamics Engine) to see its behavior in simulation environments and to verify its effectiveness. As a result, a behavior emerges in which the the snake robot is pushing obstacles for longer times and moving greater distances than when using original lateral inhibition. In addition, continuous pushing behavior is also observed when an obstacle is located behind the the snake robot.
AB - In this paper, EARLI (Extended Asymmetrical Reverse Lateral Inhibition) is proposed for the snake robot's obstacle aided locomotion and behavior. The idea of EARLI starts with an original idea of lateral inhibition; although joints rotate in reverse direction compared with the original lateral inhibition; and information of contact affects not only adjacent joints but also a couple of neighboring joints away from a contacting link. Furthermore, distribution of adding torque is empirically set asymmetrically in order to propel the snake robot forward. The algorithm of EARLI is implemented to ODE (Open Dynamics Engine) to see its behavior in simulation environments and to verify its effectiveness. As a result, a behavior emerges in which the the snake robot is pushing obstacles for longer times and moving greater distances than when using original lateral inhibition. In addition, continuous pushing behavior is also observed when an obstacle is located behind the the snake robot.
KW - lateral inhibition
KW - obstacle aided locomotion
KW - snake robot
UR - http://www.scopus.com/inward/record.url?scp=84879569552&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84879569552&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2012.6523889
DO - 10.1109/SSRR.2012.6523889
M3 - Conference contribution
AN - SCOPUS:84879569552
SN - 9781479901654
BT - 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012
ER -