Fluid-filled Soft-bodied Amoeboid Robot Inspired by Plasmodium of True Slime Mold
Advanced Robotics 26 巻 7 号
693-707 頁
2012 発行
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この文献の参照には次のURLをご利用ください : https://ir.lib.hiroshima-u.ac.jp/00034786
| ファイル情報(添付) | |
| タイトル ( eng ) |
Fluid-filled Soft-bodied Amoeboid Robot Inspired by Plasmodium of True Slime Mold
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| 作成者 |
Umedachi Takuya
Idei Ryo
Nakagaki Toshiyuki
Ishiguro Akio
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| 収録物名 |
Advanced Robotics
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| 巻 | 26 |
| 号 | 7 |
| 開始ページ | 693 |
| 終了ページ | 707 |
| 抄録 |
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.
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| 著者キーワード |
Biologically inspired robot
fluid circuit
decentralized control
sensory-motor coordination
modular robot
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| NDC分類 |
建築学 [ 520 ]
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| 言語 |
英語
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| 資源タイプ | 学術雑誌論文 |
| 出版者 |
Taylor & Francis Ltd
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| 発行日 | 2012 |
| 権利情報 |
(c) 2012. Taylor & Francis Ltd. All rights reserved.
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| 出版タイプ | Author’s Original（十分な品質であるとして、著者から正式な査読に提出される版） |
| アクセス権 | オープンアクセス |
| 収録物識別子 |
[ISSN] 0169-1864
[DOI] 10.1163/156855312X626316
[NCID] AA10679021
[DOI] http://dx.doi.org/10.1163/156855312X626316
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