Weak DC motors generate earthworm locomotion without a brain

Yoichi Masuda, Masato Ishikawa, Akio Ishiguro

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

In this paper, we develop an extremely simple earthworm-like robot as a minimal model of the wave generation principle of earthworms. The major contribution of this work is to show that autonomous and distributed peristaltic wave generation is possible without a sensor, controller, or microprocessor. The key idea behind this brainless robot is to exploit the passivity intrinsic to the low-torque DC motor in each linear joint as a control law of a rhythmic oscillator. To reproduce an earthworm-like body structure that allows body contraction and expansion, the proposed robot is composed of multiple body segments that are mutually connected by linear joints. Inflation of the body segment was reproduced by a flexible plate that connects two adjacent segments. The experiments show that the brainless robot generates peristaltic locomotion similar to that of real earthworms.

本文言語English
ホスト出版物のタイトルBiomimetic and Biohybrid Systems - 7th International Conference, Living Machines 2018, Proceedings
編集者Nathan Lepora, Vasiliki Vouloutsi, Anna Mura, Paul F. Verschure, Jose Halloy, Michael Mangan, Tony J. Prescott
出版社Springer Verlag
ページ304-315
ページ数12
ISBN(印刷版)9783319959719
DOI
出版ステータスPublished - 2018
イベント7th International Conference on Biomimetic and Biohybrid Systems, 2018 - Paris, France
継続期間: 2018 7月 172018 7月 20

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
10928 LNAI
ISSN(印刷版)0302-9743
ISSN(電子版)1611-3349

Other

Other7th International Conference on Biomimetic and Biohybrid Systems, 2018
国/地域France
CityParis
Period18/7/1718/7/20

ASJC Scopus subject areas

  • 理論的コンピュータサイエンス
  • コンピュータ サイエンス(全般)

フィンガープリント

「Weak DC motors generate earthworm locomotion without a brain」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル