Proposal of EARLI for the snake robot's obstacle aided locomotion

Tetsushi Kamegawa; Ryoma Kuroki; Matthew Travers; Howie Choset

doi:10.1109/SSRR.2012.6523889

Proposal of EARLI for the snake robot's obstacle aided locomotion

Tetsushi Kamegawa, Ryoma Kuroki, Matthew Travers, Howie Choset

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

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	https://doi.org/10.1109/SSRR.2012.6523889
Publication status	Published - Dec 1 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

Publication series

Name	2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 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

Keywords

lateral inhibition
obstacle aided locomotion
snake robot

ASJC Scopus subject areas

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

Access to Document

10.1109/SSRR.2012.6523889

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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 (2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kamegawa, T, Kuroki, R, Travers, M & Choset, H 2012, Proposal of EARLI for the snake robot's obstacle aided locomotion. in 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012., 6523889, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012, 2012 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2012, College Station, TX, United States, 11/5/12. https://doi.org/10.1109/SSRR.2012.6523889

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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.",

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