2A2-S02 環境からの手応えを活用するクモヒトデのロコモーションに内在する自律分散制御則  [in Japanese] 2A2-S02 Decentralized Control Mechanism of Ophiuroid Locomotion by Exploiting "TEGOTAE" from Environment  [in Japanese]

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Abstract

Although numerous robots have been developed inspired by animal locomotion, they could not reproduce adaptive and resilient behavior of real animals. To tackle this problem, we adopted ophiuroids as our model. In our previous work, we focused on the locomotion of an ophiuroid whose arms were shortened or removed to investigate the inter-arm coordination mechanism, and proposed a decentralized control scheme on the basis of "TEGOTAE", a Japanese word that means reaction after the generation of some action. In this study, we proposed a decentralized control scheme that enables well-balanced coupling between inter- and intra-limb coordination by extending our previous control scheme. The validity of the proposed control scheme was confirmed via simulation.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015(0), _2A2-S02_1-_2A2-S02_4, 2015

    The Japan Society of Mechanical Engineers

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