Moderationism in the immune system: Gait acquisition of a legged robot using the metadynamics function

Akio Ishiguro, Shingo Ichikawa, Takanori Shibata, Yoshiki Uchikawa

研究成果: Conference article査読

3 被引用数 (Scopus)

抄録

Due to the drastic increase of complexity and scale, conventional centralized control methodology has being encountering its limit. To overcome this problem, recently autonomous decentralized control methodology has been attracting a lot of concerns in variety of fields. Biological system is a remarkable instantiation of autonomous decentralized systems and has been expected to provide various fruitful ideas to engineering fields. Among these systems, in this study we particularly focus on the immune system since it has a lot of interesting features such as decentralized regulation mechanism of antibody production, immunological tolerance, metadynamics function and so on. We propose a new adaptation method for decentralized control systems by paying close attention to `moderationism' in the immune system. Finally we will show the possibility of our approach by taking a gait acquisition problem of a hexapod walking robot as a practical example.

本文言語English
ページ(範囲)3827-3832
ページ数6
ジャーナルProceedings of the IEEE International Conference on Systems, Man and Cybernetics
4
出版ステータスPublished - 1998 12 1
外部発表はい
イベントProceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - San Diego, CA, USA
継続期間: 1998 10 111998 10 14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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