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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10445/4413

タイトル: Taming Many Degrees of Freedom: Fully Decentralized Control of a Soft-bodied Robot Inspired by True Slime Mold
著者: Takeda, K.
Umedachi, T.
Nakagaki, Toshiyuki
Kobayashi, R.
Ishiguro, A.
アブストラクト: 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 softbodied 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.
研究業績種別: アカデミックな活動/Academic Activity
資料種別: Article
査読有無: なし/no
単著共著: 共著/joint
発表雑誌名,発表学会名など: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop/Tutorial Proceedings 
年月日: 2009年
出版社: IEEE/RSJ
出現コレクション:中垣 俊之

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