Abstract
This study is intended to deal with the interdependency between control and body systems, and to discuss the "relationship as it should be" between these two systems. To this end, a decentralized control of a multi-legged robot is employed as a practical example. The result derived indicates that the convergence of decentralized gait control can be significantly ameliorated by modifying the interaction between the control and body dynamics. We also discuss a property expected to emerge under the "well-balanced coupling" particularly from the viewpoint of learning, by borrowing the idea from the "protein folding problem".
| Original language | English |
|---|---|
| Pages | 2931-2935 |
| Number of pages | 5 |
| Publication status | Published - 2004 Dec 1 |
| Event | SICE Annual Conference 2004 - Sapporo, Japan Duration: 2004 Aug 4 → 2004 Aug 6 |
Other
| Other | SICE Annual Conference 2004 |
|---|---|
| Country | Japan |
| City | Sapporo |
| Period | 04/8/4 → 04/8/6 |
Keywords
- Emergence
- Learning Surface
- Protein Folding
- Well-balanced Design
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
Fingerprint Dive into the research topics of 'Improvement of learning surface by exploiting the interplay between control and mechanical dynamics'. Together they form a unique fingerprint.
Cite this
Hasegawa, T., Kawakatsu, T., & Ishiguro, A. (2004). Improvement of learning surface by exploiting the interplay between control and mechanical dynamics. 2931-2935. Paper presented at SICE Annual Conference 2004, Sapporo, Japan.