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Please use this identifier to cite or link to this item: http://hdl.handle.net/10445/4413

Title: Taming Many Degrees of Freedom: Fully Decentralized Control of a Soft-bodied Robot Inspired by True Slime Mold
Authors: Takeda, K.
Umedachi, T.
Nakagaki, Toshiyuki
Kobayashi, R.
Ishiguro, A.
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 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.
Research Achievement Classification: アカデミックな活動/Academic Activity
Type: Article
Peer Review: なし/no
Solo/Joint Author(s): 共著/joint
Published journal or presented
academic conference: 
IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS) Workshop/Tutorial Proceedings 
Date: 2009
Publisher: IEEE/RSJ
Appears in Collections:Nakagaki Toshiyuki

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