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

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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

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.

本文言語英語
ホスト出版物のタイトル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
編集者Hideo Fujimoto, Mohammad O. Tokhi, Hiromi Mochiyama, Gurvinder S. Virk
出版社World Scientific
ページ157-164
ページ数8
ISBN(印刷版)9789814327978
DOI
出版ステータス出版済み - 1 1 2010
外部発表はい
イベント13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 - Nagoya, 日本
継続期間: 8 31 20109 3 2010

出版物シリーズ

名前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

会議

会議13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
Country日本
CityNagoya
Period8/31/109/3/10

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction

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