@inproceedings{bb06e20f9bb4465ba749d9863520cdca,
title = "A CPG-based decentralized control of a quadruped robot based on discrepancy function",
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.",
author = "T. Kano and K. Nagasawa and D. Owaki and A. Tero and A. Ishiguro",
year = "2010",
month = jan,
day = "1",
doi = "10.1142/9789814329927_0021",
language = "English",
isbn = "9789814327978",
series = "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",
publisher = "World Scientific",
pages = "157--164",
editor = "Hideo Fujimoto and Tokhi, {Mohammad O.} and Hiromi Mochiyama and Virk, {Gurvinder S.}",
booktitle = "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",
address = "United States",
note = "13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010 ; Conference date: 31-08-2010 Through 03-09-2010",
}