Innovations in Controlling Hyper Redundant and Flexible Systems Inspired by Biological Locomotion

Research Project Outline

Our goal is to develop truly biomimetic robots that exhibit life-like agile and supple locomotion under real world constraints, endowing robots with (very) large degrees of freedom. In order to achieve this goal, we revisit and rethink the concept of autonomous decentralized control, and consider the way of control that allows robots to orchestrate and maneuver large degrees of freedom without impairing the adaptivity. One of the signifi cant features of our project is that we intend to cap-ture the control principle by greatly relying on mathematical modeling of various types of locomotion, ranging from amoe-boid locomotion to legged locomotion.