An adaptive decentralized control of a serpentine robot based on the discrepancy between body, brain and environment

Takahide Sato, Wataru Watanabe, Akio Ishiguro

研究成果: Conference contribution

15 被引用数 (Scopus)

抄録

Despite its appealing concept, a systematic way of designing autonomous decentralized control system is still lacking. In order to alleviate this, we have so far proposed a design scheme for local sensory feedback control leading to adaptive behaviors from the entire system, based on a so-called discrepancy function that extracts the discrepancies between body (i.e., mechanical system), brain (i.e., control system) and environments. This paper intensively investigates the validity of this design scheme under the real world constraints by taking a two-dimensional serpentine robot exhibiting undulatory slithering locomotion as a practical example. The experimental results show that the robot exhibits adaptive behavior against environmental changes as well as the robustness against malfunctions of body segments due to the local sensory feedback control. The results obtained are expected to shed a new light on methodology for autonomous decentralized control system.

本文言語English
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ709-714
ページ数6
DOI
出版ステータスPublished - 2010
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
継続期間: 2010 5月 32010 5月 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
国/地域United States
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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