Behavior Based Locomotion Control in Multi-Legged Robot Constructed by Hierarchical Distributed Structure

• Odashima Tadashi

  Bio-mimetic Control Research Center, RIKEN

• Luo Zhi-wei

  Bio-mimetic Control Research Center, RIKEN Faculty of Engineering, Kobe University

Bibliographic Information

Other Title

• 階層型分散制御構造を用いた多脚歩行系における行動規範型歩行制御
• カイソウガタ ブンサン セイギョ コウゾウ オ モチイタ タキャク ホコウケイ ニ オケル コウドウ キハンガタ ホコウ セイギョ

Abstract

Multi-legged locomotion enables a mobile robot to behave flexibly in complex environment. High flexible locomotion, however, requires high computational load to the controller. Decentralized control approach is one of the most feasible ways to reduce the load. Although force control is useful in order to realize high adaptability to complex environment, solving a force distribution problem requires generally global information and it does not match the policy of decentralized control system. In this paper, we propose one method to solve a force distribution problem by bottom-up manner, in which local controllers modify the received target values locally by them.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 24 (6), 766-773, 2006

  The Robotics Society of Japan

Keywords

• Behavior Based Contorl
• Hierarchical Structure
• Multi-legged Locomotion

Details

• CRID: 1390282679702499200
• NII Article ID: 10018207646
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.24.766
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 8067887
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8067887
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed