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Snake-like robots that behaves biological snakes' characteristics have possibility to make them supremely adapted for environment. In this paper, we firstly formulate the kinematics and the dynamics of 3-dimensional snake robots and then analyze the sinus-lifting creeping motion as an example. In this study, the sinus-lifting motion was imaged as the(More)
In this paper, development of a CPG-based controllers for meandering locomotion of a snake-like robot that can adapt to changing friction is presented. The controllers are composed of two kinds of CPG models and receives environmental information from friction force sensors attached on the bottom of the robot. Adaptive CPG parameters are obtained using(More)
In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with(More)
"Search balls" are small sensor units for searching inside of rubble. A search ball is not equipped with locomotion mechanisms but contains some sensors for searching disaster victims and a radio transceiver. Many balls are thrown into rubble and fall down while repeating collision; they are scattered inside the rubble. The sensor information from the balls(More)
We describe an efficient method for producing both enantiomers of chiral alcohols by asymmetric hydrogen-transfer bioreduction of ketones in a 2-propanol (IPA)–water medium with E. coli biocatalysts expressing phenylacetaldehyde reductase (PAR: wild-type and mutant enzymes) from Rhodococcus sp. ST-10 and alcohol dehydrogenase from Leifsonia sp. S749(More)