Living Machines 2012: Biomimetic and Biohybrid Systems pp 38-49 | Cite as
A Soft-Body Controller with Ubiquitous Sensor Feedback
Conference paper
Abstract
In this paper, we investigate control architectures that combine implicit models of behavior with ubiquitous sensory input, for soft hyper-redundant robots. Using a Wilson-Cowan neuronal model in a continuum arrangement that mirrors the arrangement of muscles in an earthworm, we can create a wide range of steady waves with descending signals. Here, we demonstrate how sensory feedback from individual segment strains can be used to modulate the behavior in desirable ways.
Keywords
Strain Sensor Nonlinear Spring Peristaltic Motion Excitatory Connection Snake Robot
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