A design principle of the decentralized control and its applications

Ryo Kobayashi, Toshiyuki Nakagaki, Akio Ishiguro

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

Abstract

Why can animals show amazingly sinuous and robust motion under unpredictable complex environments? It is because animals have a large number of degrees of freedom in their bodies and can orchestrate them very well. Even for the most advanced robots today, such abilities are difficult to attain. In order to create animal-like robots, autonomous decentralized control (ADC) is the key concept that facilitates real-time control of a large number of degrees of freedom corresponding to the changing surroundings. We propose a simple design principle of ADC, which is termed as discrepancy control; then, we test it by implementing it in various types of robots.

Original languageEnglish
Title of host publication11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013
Pages2440-2443
Number of pages4
DOIs
Publication statusPublished - 2013 Nov 19
Event11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013 - Rhodes, Greece
Duration: 2013 Sep 212013 Sep 27

Publication series

NameAIP Conference Proceedings
Volume1558
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Other

Other11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013
Country/TerritoryGreece
CityRhodes
Period13/9/2113/9/27

Keywords

  • autonomous decentralized control
  • discrepancy function
  • locomotion of animals
  • robot

ASJC Scopus subject areas

  • Physics and Astronomy(all)

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