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Please use this identifier to cite or link to this item: http://hdl.handle.net/10445/4390

Title: A soft-bodied fluid-driven amoeboid robot inspired by plasmodium of true slime mold
Authors: Umedachi, Takuya
Takeda, Koichi
Nakagaki, Toshiyuki
Kobayashi, Ryo
Ishiguro, Akio
Abstract: Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement many degrees of freedom into the robots' bodies equivalent to animals. For taming many degrees of freedom, the concept of autonomous decentralized control plays a pivotal role. However, a systematic way of designing such autonomous decentralized control system is still missing. Aiming at understanding the principles that underlie animals' locomotion, in our early studies, we focused on true slime mold, a primitive living organism, and extracted a decentralized control scheme. In order to validate this control scheme, this paper presents a soft-bodied amoeboid robot inspired by true slime mold. Significant features of this robot are twofold: (1) the robot has highly soft and deformable body stemming from real-time tunable springs and a balloon, the former is used for an outer skin of the body and the latter is for protoplasm; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance interaction between the body parts stemming from the law of conservation of protoplasmic mass. Experimental results show that this robot exhibits highly supple locomotion without relying on any hierarchical structure. The results obtained are expected to shed a new light on design methodology for autonomous decentralized control system.
Research Achievement Classification: 原著論文/Original Paper
Type: Journal Article
Peer Review: あり/yes
Solo/Joint Author(s): 共著/joint
Published journal or presented
academic conference: 
The proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2010)
Date: 2010
Publisher: IEEE
Appears in Collections:Nakagaki Toshiyuki

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