A design principle of the decentralized control and its applications

Ryo Kobayashi; Toshiyuki Nakagaki; Akio Ishiguro

doi:10.1063/1.4826034

A design principle of the decentralized control and its applications

Ryo Kobayashi, Toshiyuki Nakagaki, Akio Ishiguro

Human Information Systems Division

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013
Pages	2440-2443
Number of pages	4
DOIs	https://doi.org/10.1063/1.4826034
Publication status	Published - 2013 Nov 19
Event	11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013 - Rhodes, Greece Duration: 2013 Sep 21 → 2013 Sep 27

Publication series

Name	AIP Conference Proceedings
Volume	1558
ISSN (Print)	0094-243X
ISSN (Electronic)	1551-7616

Other

Other	11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013
Country/Territory	Greece
City	Rhodes
Period	13/9/21 → 13/9/27

Keywords

autonomous decentralized control
discrepancy function
locomotion of animals
robot

ASJC Scopus subject areas

Physics and Astronomy(all)

Access to Document

10.1063/1.4826034

Cite this

Kobayashi, R, Nakagaki, T & Ishiguro, A 2013, A design principle of the decentralized control and its applications. in 11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013. AIP Conference Proceedings, vol. 1558, pp. 2440-2443, 11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013, Rhodes, Greece, 13/9/21. https://doi.org/10.1063/1.4826034

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A design principle of the decentralized control and its applications

Abstract

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Keywords

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