NDLI: Taming large degrees of freedom

Content Provider	IEEE Xplore Digital Library
Author	Umedachi, T. Takeda, K. Nakagaki, T. Kobayashi, R. Ishiguro, A.
Copyright Year	2010
Description	Author affiliation: Department of Mathematical and Life Sciences, Hiroshima University, Higashi 739-8526, Japan (Kobayashi, R.) \|\| Research Institute for Electronic Science, Hokkaido University, Kita 20, Nishi 10, Sapporo, 001-0021, Japan (Nakagaki, T.) \|\| Department of Electrical and Communication Engineering, Graduate School of Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Sendai 980-8579, Japan (Umedachi, T.; Takeda, K.; Ishiguro, A.)
Abstract	Animals exhibit astoundingly adaptive and supple locomotion under real world constraints. In order to endow robots with similar capabilities, we must implement large degrees of freedom, equivalent to animals, into the robots' bodies. For taming large degrees of freedom, the concept of autonomous decentralized control plays a pivotal role. However, a systematic way of designing such autonomous decentralized control system is still missing. Aiming at understanding the principles that underlie animals' locomotion, in our early studies, we focused on true slime mold, a primitive living organism, and extracted a decentralized control scheme. In order to validate this control scheme, this paper presents a soft-bodied amoeboid robot inspired by true slime mold. Significant features of this robot are twofold: (1) the robot has truly soft and deformable body stemming from real-time tunable springs and a balloon, the former is used for an outer skin of the body and the latter serves as protoplasm; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts stemming from both the softness of the body and the law of conservation of protoplasmic mass. Experimental results show that this robot exhibits truly supple locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design scheme for autonomous decentralized control system.
Starting Page	3787
Ending Page	3792
File Size	1907267
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509498
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Distributed control Animals Robotics and automation Robot sensing systems Centralized control Legged locomotion USA Councils Organisms Springs Skin
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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