Modulation of orthogonal body waves enables high maneuverability in sidewinding locomotion
Abstract
We examined the turning behavior of snakes performing sidewinding locomotion using a hypothesized two-wave control template. Sidewinders achieved exceptional maneuverability using two types of turns, shallow differential turns and sharp reversal turns, which we hypothesized are controlled by modulating horizontal wave amplitude and vertical wave phase offset, respectively. We tested these hypothesized control schemes using a modular snake robot capable of sidewinding, resulting in similar behaviors, and explored two-wave parameter space, resulting in discovery of a third turning mechanism that is not seen in snakes. Thus, we show that complex behaviors such as turning while sidewinding can emerge from independent modulations of each of the two waves comprising this control template, underscoring the utility of robots to test biological hypotheses.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Mar 23, 2015
- Source ID
- 10.1073/pnas.1418965112
Entities
People
- Chaohui Gong
- Daniel I. Goldman
- David L. Hu
- Henry C. Astley
- Howie Choset
- Jin Dai
- Joseph R. Mendelson Iii
- Matthew Travers
- Miguel M. Serrano
- Patricio A. Vela
Organizations
- Army Research Office
- Carnegie Mellon University
- Georgia Tech
- National Science Foundation
- Zoo Atlanta