NDLI: Gait coordination of hexapod walking robots using mutual-coupled immune networks

Content Provider	IEEE Xplore Digital Library
Author	Ishiguro, A. Kuboshiki, S. Ichikawa, S. Uchikawa, Y.
Copyright Year	1995
Description	Author affiliation: Sch. of Eng., Nagoya Univ., Japan (Ishiguro, A.; Kuboshiki, S.; Ichikawa, S.; Uchikawa, Y.)
Abstract	Biological information processing systems are amongst the ultimate decentralized systems, and are expected to provide various fruitful ideas for engineering fields, especially robotics. Among these systems, the brain-nervous system and genetic system have already been widely used by modeling as neural networks and genetic algorithms, respectively. The immune system also plays an important role in coping with a dynamically changing environment by constructing self-nonself recognition networks among different species of antibodies. This system also has a lot of interesting features such as learning, self-organizing abilities and so on viewed from the engineering standpoint. However, the immune system has not yet been applied to engineering fields. We propose a new hypothesis concerning the structure of the immune system, called the mutual-coupled immune network hypothesis, based on recent studies on immunology. We apply this idea to gait acquisition of a hexapod walking robot as a practical example. Finally, the feasibility of our proposed method is confirmed by simulations.
Starting Page	672
Ending Page	677
File Size	699125
Page Count	6
File Format	PDF
ISBN	0780327594
DOI	10.1109/ICEC.1995.487465
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-11-29
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Robot kinematics Immune system Information processing Brain modeling Biological neural networks Computational Intelligence Society Biological system modeling Genetic algorithms Organisms
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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