A CPG-based decentralized control of a quadruped robot inspired by true slime mold

Takeshi Kano, Koh Nagasawa, Dai Owaki, Atsushi Tero, Akio Ishiguro

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

7 Citations (Scopus)

Abstract

Despite its appeal, a systematic design of an autonomous decentralized control system is yet to be realized. To bridge this gap, we have so far employed a "back-to-basics" approach inspired by true slime mold, a primitive living creature whose behavior is purely controlled by coupled biochemical oscillators similar to central pattern generators (CPGs). Based on this natural phenomenon, we have successfully developed a design scheme for local sensory feedback control leading to system-wide adaptive behavior. This design scheme is based on a "discrepancy function" that extracts the discrepancies among the mechanical system (i:e:, body), control system (i:e:, brain-nervous system) and the environment. The aim of this study is to intensively investigate the validity of this design scheme by applying it to the control of a quadruped locomotion. Simulation results show that the quadruped robot exhibits remarkably adaptive behavior in response to environmental changes and changes in body properties. Our results shed a new light on design methodologies for CPG-based decentralized control of various types of locomotion.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages4928-4933
Number of pages6
DOIs
Publication statusPublished - Dec 1 2010
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Kano, T., Nagasawa, K., Owaki, D., Tero, A., & Ishiguro, A. (2010). A CPG-based decentralized control of a quadruped robot inspired by true slime mold. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 4928-4933). [5650318] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5650318