TY - GEN
T1 - An adaptive decentralized control of a serpentine robot based on the discrepancy between body, brain and environment
AU - Sato, Takahide
AU - Watanabe, Wataru
AU - Ishiguro, Akio
PY - 2010
Y1 - 2010
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 leading to adaptive behaviors from the entire system, based on a 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 under the real world constraints by taking a two-dimensional serpentine robot exhibiting undulatory slithering locomotion as a practical example. The experimental results show that the robot exhibits adaptive behavior against environmental changes as well as the robustness against malfunctions of body segments due to the local sensory feedback control. The results obtained are expected to shed a new light on methodology for autonomous decentralized control system.
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 leading to adaptive behaviors from the entire system, based on a 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 under the real world constraints by taking a two-dimensional serpentine robot exhibiting undulatory slithering locomotion as a practical example. The experimental results show that the robot exhibits adaptive behavior against environmental changes as well as the robustness against malfunctions of body segments due to the local sensory feedback control. The results obtained are expected to shed a new light on methodology for autonomous decentralized control system.
UR - http://www.scopus.com/inward/record.url?scp=77955819947&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2010.5509236
DO - 10.1109/ROBOT.2010.5509236
M3 - Conference contribution
AN - SCOPUS:77955819947
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 709
EP - 714
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -