A design principle of the decentralized control and its applications

Ryo Kobayashi, Toshiyuki Nakagaki, Akio Ishiguro

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013
ページ2440-2443
ページ数4
DOI
出版ステータスPublished - 2013 11 19
イベント11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013 - Rhodes, Greece
継続期間: 2013 9 212013 9 27

出版物シリーズ

名前AIP Conference Proceedings
1558
ISSN(印刷版)0094-243X
ISSN(電子版)1551-7616

Other

Other11th International Conference of Numerical Analysis and Applied Mathematics 2013, ICNAAM 2013
国/地域Greece
CityRhodes
Period13/9/2113/9/27

ASJC Scopus subject areas

  • 物理学および天文学(全般)

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