1A1-V05 クモヒトデから学ぶレジリアントなロボットの設計原理(自律分散型ロボットシステム)

• 佐藤 英毅

  東北大

• 加納 剛史

  東北大

• 青沼 仁志

  北大

• 松坂 義哉

  東北大

• 石黒 章夫

  東北大

書誌事項

タイトル別名

• 1A1-V05 Design Principle of Resilient Robot Inspired by Ophiuroid Locomotion(Robotic systems based on autonomous decentralized architecture)

抄録

Most robots are vulnerable to changes in their own morphology such as failures. To tackle this problem, we have focused on ophiuroids, which have simple body with pentaradial symmetry, as our model. Although they are composed of primitive decentralized nervous system, they can coordinate their arm movements adequately even when the arms are arbitrarily cut off. In this study, we aimed to clarify the fundamental mechanism underlying this resilient ophiuroid locomotion. For this purpose, we performed behavioral experiment using ohiuroids with different number of shortened arms, and proposed a simple autonomous decentralized control scheme on this basis. The validity of the propose control scheme was confirmed via simulation.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _1A1-V05_1-_1A1-V05_4, 2014

  一般社団法人 日本機械学会

キーワード

• Autonomous decentralized control
• Resilient robot
• Ophiuroid locomotion

詳細情報

• CRID: 1390282680915904256
• NII論文ID: 110009966666
• DOI: 10.1299/jsmermd.2014._1a1-v05_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__1A1-V05_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可