Moderationism in the immune system: Gait acquisition of a legged robot using the metadynamics function

Akio Ishiguro, Shingo Ichikawa, Takanori Shibata, Yoshiki Uchikawa

Research output: Contribution to journalConference articlepeer-review

5 Citations (Scopus)


Due to the drastic increase of complexity and scale, conventional centralized control methodology has being encountering its limit. To overcome this problem, recently autonomous decentralized control methodology has been attracting a lot of concerns in variety of fields. Biological system is a remarkable instantiation of autonomous decentralized systems and has been expected to provide various fruitful ideas to engineering fields. Among these systems, in this study we particularly focus on the immune system since it has a lot of interesting features such as decentralized regulation mechanism of antibody production, immunological tolerance, metadynamics function and so on. We propose a new adaptation method for decentralized control systems by paying close attention to `moderationism' in the immune system. Finally we will show the possibility of our approach by taking a gait acquisition problem of a hexapod walking robot as a practical example.

Original languageEnglish
Pages (from-to)3827-3832
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1998
EventProceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - San Diego, CA, USA
Duration: 1998 Oct 111998 Oct 14


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