バクテリアの走化性モデルに基づく移動ロボットのバイオミメティック制御(機械力学,計測,自動制御)

日本機械学會論文集. C編 : Transactions of the Japan Society of Mechanical Engineers. C Volume 68 Issue 673 Page 2687-2694 published_at 2002-09-25
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Title ( jpn )
バクテリアの走化性モデルに基づく移動ロボットのバイオミメティック制御(機械力学,計測,自動制御)
Title ( eng )
Bio-mimetic Control of Mobile Robots Based on a Model of Bacterial Chemotaxis
Creator
Sakane Akira
Fukuda Osamu
Kaneko Makoto
Ohtake Hisao
Source Title
日本機械学會論文集. C編 : Transactions of the Japan Society of Mechanical Engineers. C
Volume 68
Issue 673
Start Page 2687
End Page 2694
Abstract
This paper proposes a new control method of mobile robots based on a model of bacterial chemotaxis including not only intracellular information processing but also motor control on the basis of the molecular evidence. E. coli is chosen as a target bacterium, which has a simple molecular structure and is amenable to biochemical and genetic analysis. First, a computer model of the chmotaxis is developed to simulate its emergence. Parameters included in the model are regulated using the genetic algorithm in such a way that a fitness representing the chemotactic ability is maximized. Then, using a mobile robot incorporated this chemotactic model, experiments of trajectory generation are preformed, and it is confirmed that the mobile robot can be controlled based on the bacterial model.
Keywords
Biological Engineering
Bio-Motion
Moving Robot
Bio-Mimetic Control
Artificial Life
Bacterium
Chemotaxis
NDC
Mechanical engineering [ 530 ]
Language
jpn
Resource Type journal article
Publisher
社団法人日本機械学会
Date of Issued 2002-09-25
Rights
copyright(c)2002 社団法人日本機械学会
Publish Type Version of Record
Access Rights open access
Source Identifier
[ISSN] 0387-5024
[NCID] AN00187463