A CPG-based decentralized control of a quadruped robot based on discrepancy function

T. Kano, K. Nagasawa, D. Owaki, A. Tero, A. Ishiguro

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

Abstract

Decentralized control is a key concept to understand the mechanism underlying versatile and adaptive locomotion of animals under various environments. However, a systematic design of an autonomous decentralized control system is yet to be realized. To address this gap, we have so far focused on true slime mold, and have extracted a design scheme for brain-body interaction based on discrepancy function. In this paper, we investigate the validity of this design scheme by applying it to the control of a quadruped locomotion. The simulation results show that the quadruped robot exhibits remarkably adaptive behavior against changes of environments and body properties.

Original languageEnglish
Title of host publicationEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
EditorsHideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk
PublisherWorld Scientific
Pages157-164
Number of pages8
ISBN (Print)9789814327978
DOIs
Publication statusPublished - Jan 1 2010
Externally publishedYes
Event13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, Japan
Duration: Aug 31 2010Sep 3 2010

Publication series

NameEmerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010

Conference

Conference13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
CountryJapan
CityNagoya
Period8/31/109/3/10

Fingerprint

Decentralized control
Robots
Fungi
Brain
Animals
Control systems

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Kano, T., Nagasawa, K., Owaki, D., Tero, A., & Ishiguro, A. (2010). A CPG-based decentralized control of a quadruped robot based on discrepancy function. In H. Fujimoto, M. O. Tokhi, H. Mochiyama, & G. S. Virk (Eds.), Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 (pp. 157-164). (Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010). World Scientific. https://doi.org/10.1142/9789814329927_0021

A CPG-based decentralized control of a quadruped robot based on discrepancy function. / Kano, T.; Nagasawa, K.; Owaki, D.; Tero, A.; Ishiguro, A.

Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010. ed. / Hideo Fujimoto; Mohammad O. Tokhi; Hiromi Mochiyama; Gurvinder S. Virk. World Scientific, 2010. p. 157-164 (Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010).

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

Kano, T, Nagasawa, K, Owaki, D, Tero, A & Ishiguro, A 2010, A CPG-based decentralized control of a quadruped robot based on discrepancy function. in H Fujimoto, MO Tokhi, H Mochiyama & GS Virk (eds), Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010. Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010, World Scientific, pp. 157-164, 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010, Nagoya, Japan, 8/31/10. https://doi.org/10.1142/9789814329927_0021
Kano T, Nagasawa K, Owaki D, Tero A, Ishiguro A. A CPG-based decentralized control of a quadruped robot based on discrepancy function. In Fujimoto H, Tokhi MO, Mochiyama H, Virk GS, editors, Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010. World Scientific. 2010. p. 157-164. (Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010). https://doi.org/10.1142/9789814329927_0021
Kano, T. ; Nagasawa, K. ; Owaki, D. ; Tero, A. ; Ishiguro, A. / A CPG-based decentralized control of a quadruped robot based on discrepancy function. Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010. editor / Hideo Fujimoto ; Mohammad O. Tokhi ; Hiromi Mochiyama ; Gurvinder S. Virk. World Scientific, 2010. pp. 157-164 (Emerging Trends in Mobile Robotics- Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010).
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