TY - GEN
T1 - A fully decentralized control of a serpentine robot based on the discrepancy between body, brain and environment
AU - Watanabe, Wataru
AU - Sato, Takahide
AU - Ishiguro, Akio
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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 based on 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 by taking a two-dimensional serpentine robot exhibiting undulatory slithering locomotion as a practical example. Preliminary simulation results derived strongly indicate that our design methodology allows us to endow the robot with highly adaptability and fault tolerance. These results obtained are expected to shed a new light on design methodology for autonomous decentralized control system. Furthermore, together with a validity verification of the simulation results, this paper introduces a real two-dimensional serpentine robot that is currently under development.
AB - 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 based on 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 by taking a two-dimensional serpentine robot exhibiting undulatory slithering locomotion as a practical example. Preliminary simulation results derived strongly indicate that our design methodology allows us to endow the robot with highly adaptability and fault tolerance. These results obtained are expected to shed a new light on design methodology for autonomous decentralized control system. Furthermore, together with a validity verification of the simulation results, this paper introduces a real two-dimensional serpentine robot that is currently under development.
UR - http://www.scopus.com/inward/record.url?scp=76249100768&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2009.5354268
DO - 10.1109/IROS.2009.5354268
M3 - Conference contribution
AN - SCOPUS:76249100768
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 2421
EP - 2426
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -