Moving right arm in the right place: Ophiuroid-inspired omnidirectional robot driven by coupled dynamical systems

Wataru Watanabe, Shota Suzuki, Takeshi Kano, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Autonomous decentralized control is a key concept for understanding the mechanism underlying the adaptive and versatile behavior of animals. Although the design methodology of decentralized control based on a dynamical system approach that can impart adaptability by using coupled oscillators has been proposed in previous studies, it cannot reproduce the versatility of animal behaviors comprehensively. Therefore, our objective is to understand behavioral versatility from the perspective of well-coordinated rhythmic and non-rhythmic movements. To this end, we focus on ophiuroids as simple "best" model living organisms that exhibit spontaneous role assignment of rhythmic and non-rhythmic arm movements, and we model such arm movements by using an active rotator model that can describe both oscillatory and excitatory properties. Simulation results show that the spontaneous role assignment of arm movements is successfully realized by using the proposed model, and the simulated locomotion is qualitatively equivalent to the locomotion of real ophiuroids. This fact can potentially facilitate a better understanding of the control mechanism responsible for behavioral versatility in animals.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages1895-1900
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 29
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 2011 Sep 252011 Sep 30

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period11/9/2511/9/30

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Watanabe, W., Suzuki, S., Kano, T., & Ishiguro, A. (2011). Moving right arm in the right place: Ophiuroid-inspired omnidirectional robot driven by coupled dynamical systems. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 1895-1900). [6048849] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048849