Stable heteroclinic channels for slip control of a peristaltic crawling robot

Stable Heteroclinic Channels (SHCs) are continuous dynamical systems capable of generating rhythmic output of varying period in response to sensory inputs or noise. This feature can be used to control state transitions smoothly. We demonstrate this type of controller in a dynamic simulation of a worm-like robot crawling through a pipe with a narrowing in radius. Our SHC controller allows for improved adaptation to a change in pipe diameter with more rapid movement and less energy loss. In an example narrowing pipe, this controller loses 40% less energy to slip compared to the best-fit sine wave controller.