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ID 34786
本文ファイル
著者
Umedachi, Takuya
Idei, Ryo
Nakagaki, Toshiyuki
Ishiguro, Akio
キーワード
Biologically inspired robot
fluid circuit
decentralized control
sensory-motor coordination
modular robot
NDC
建築学
抄録(英)
This paper presents a fluid-filled soft-bodied amoeboid robot inspired by plasmodium of true slime mold. The significant features of this robot are twofold: (1) the robot has fluid circuit (i.e., cylinders and nylon tubes filled with fluid) and truly soft and deformable body stemming from Real-time Tunable Springs (RTSs), the former seals protoplasm to induce global physical interaction between the body parts and the latter is used for elastic actuators; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the global physical interaction between the body parts stemming from the fluid circuit. The experimental results show that this robot exhibits adaptive locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design scheme for autonomous decentralized control systems.
掲載誌名
Advanced Robotics
26巻
7号
開始ページ
693
終了ページ
707
出版年月日
2012
出版者
Taylor & Francis Ltd
ISSN
0169-1864
NCID
出版者DOI
言語
英語
NII資源タイプ
学術雑誌論文
広大資料タイプ
学術雑誌論文
DCMIタイプ
text
フォーマット
application/pdf
著者版フラグ
author
権利情報
(c) 2012. Taylor & Francis Ltd. All rights reserved.
関連情報URL
部局名
理学研究科