Reflective control explains scattering and obstacle interaction in lateral undulatory locomotion

Due to its efficiency, simplicity, and adaptability across diverse terrains, lateral undulatory locomotion presents an ideal paradigm for studying the interaction with obstacles in limbless animals. Undulatory locomotors scatter around obstacles by using different interaction mechanisms. We proposed a generalized obstacle interaction control that demonstrates the scattering phenomenon in undulatory locomotion and the role of physical intelligence. The proposed approach is named a reflective control strategy, in which a mechanical response triggers the redirection of the head while effectively maneuvering through obstacles in cluttered and unstructured environments. The reflective control strategy incorporates continuous interaction with the environment and reduces the computation cost by exploiting physical intelligence. Our results support the argument that scattering arises from the mechanical interaction of the head rather than active decision making. The findings advance our understanding of the obstacle interaction mechanisms in limbless animals and their utility in robotic applications.