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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| File | |
| 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)
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| Title ( eng ) |
Bio-mimetic Control of Mobile Robots Based on a Model of Bacterial Chemotaxis
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| Creator |
Sakane Akira
Fukuda Osamu
Kaneko Makoto
Ohtake Hisao
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| 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.
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| Keywords |
Biological Engineering
Bio-Motion
Moving Robot
Bio-Mimetic Control
Artificial Life
Bacterium
Chemotaxis
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| 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
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| Publish Type | Version of Record |
| Access Rights | open access |
| Source Identifier |
[ISSN] 0387-5024
[NCID] AN00187463
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