How should control and body systems be coupled? A robotic case study

Research output: Contribution to journalConference articlepeer-review

18 Citations (Scopus)


This study is intended to deal with the interdependency between control and body systems, and to discuss the "relationship as it should be" between these two systems. To this end, a decentralized control of a multi-legged robot is employed as a practical example. The result derived indicates that the convergence of decentralized gait control can be significantly ameliorated by modifying its interaction dynamics between the control system and its body system to be implemented. We also discuss a property expected to emerge under the "well-balanced coupling" particularly from the viewpoint of learning, by borrowing the idea from the "protein folding problem".

Original languageEnglish
Pages (from-to)107-118
Number of pages12
JournalLecture Notes in Computer Science
Publication statusPublished - 2004
EventInternational Seminar - Embodied Artificial Intelligence - Dagstuhl Castle, Germany
Duration: 2003 Jul 72003 Jul 11


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