Snakes can alter their locomotion patterns in response to the environmental changes. Inspired by this ability, various snake-like robots have been developed thus far. However, they could not reproduce the innate behavior of real snakes. To address this issue, in our previous work, we proposed an autonomous decentralized control scheme based on Tegotae, a Japanese concept that describes how well a perceived reaction matches an expectation. It was demonstrated via simulation that two qualitatively different locomotion patterns, concertina locomotion in narrow aisles and scaffold-based locomotion in unstructured terrain, can be reproduced by using the Tegotae-based control without any parameter change. In this paper, we developed a robot to validate the Tegotae-based control in the real world.