How Should Control and Body Dynamics be Coupled? A Robotic Case Study

Akio Ishiguro, Kazuhisa Ishimaru, Koji Hayakawa, Toshihiro Kawakatsu

研究成果: Paper査読

5 被引用数 (Scopus)

抄録

Over the past decade, it has been widely recognized that the emergence of intelligence is strongly influenced by not only control systems but also their embodiments, that is the physical properties of robots' bodies. This implies that the control dynamics and its body dynamics cannot be designed "separately" due to their tight interdependency, which is significantly different from the traditional design approach on a "hardware first, software last" basis. Now a question arises: how should these two dynamics be coupled?; what sort of phenomena will emerge under the so-called "well-balanced" design? In spite of its importance, to our knowledge, still very few studies have explicitly investigated this mutual interaction. In light of these facts, this study is intended to deal with the interaction dynamics between control and mechanical systems, and to analytically and synthetically discuss the "relationship as it should be" between the two dynamics. To this end, a decentralized control for 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 its interaction dynamics between the control and mechanical systems to be implemented.

本文言語English
ページ1727-1732
ページ数6
出版ステータスPublished - 2003 12月 26
イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
継続期間: 2003 10月 272003 10月 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
国/地域United States
CityLas Vegas, NV
Period03/10/2703/10/31

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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