TY - GEN
T1 - A design principle of the decentralized control and its applications
AU - Kobayashi, Ryo
AU - Nakagaki, Toshiyuki
AU - Ishiguro, Akio
PY - 2013/11/19
Y1 - 2013/11/19
N2 - 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.
AB - 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.
KW - autonomous decentralized control
KW - discrepancy function
KW - locomotion of animals
KW - robot
UR - http://www.scopus.com/inward/record.url?scp=84887565135&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887565135&partnerID=8YFLogxK
U2 - 10.1063/1.4826034
DO - 10.1063/1.4826034
M3 - Conference contribution
AN - SCOPUS:84887565135
SN - 9780735411845
T3 - AIP Conference Proceedings
SP - 2440
EP - 2443
BT - 11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013
T2 - 11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013
Y2 - 21 September 2013 through 27 September 2013
ER -