A CPG-based decentralized control of a quadruped robot based on discrepancy function

T. Kano, K. Nagasawa, D. Owaki, A. Tero, A. Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Decentralized control is a key concept to understand the mechanism underlying versatile and adaptive locomotion of animals under various environments. However, a systematic design of an autonomous decentralized control system is yet to be realized. To address this gap, we have so far focused on true slime mold, and have extracted a design scheme for brain-body interaction based on discrepancy function. In this paper, we investigate the validity of this design scheme by applying it to the control of a quadruped locomotion. The simulation results show that the quadruped robot exhibits remarkably adaptive behavior against changes of environments and body properties.

Original languageEnglish
Title of host publicationEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
EditorsHideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk
PublisherWorld Scientific
Pages157-164
Number of pages8
ISBN (Print)9789814327978
DOIs
Publication statusPublished - 2010 Jan 1
Event13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan
Duration: 2010 Aug 312010 Sep 3

Publication series

NameEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

Conference

Conference13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
CountryJapan
CityNagoya
Period10/8/3110/9/3

Keywords

  • Decentralized Control
  • Discrepancy Function
  • Quadruped Robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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  • Cite this

    Kano, T., Nagasawa, K., Owaki, D., Tero, A., & Ishiguro, A. (2010). A CPG-based decentralized control of a quadruped robot based on discrepancy function. In H. Fujimoto, M. O. Tokhi, H. Mochiyama, & G. S. Virk (Eds.), Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 (pp. 157-164). (Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010). World Scientific. https://doi.org/10.1142/9789814329927_0021