1A1-V01 真正粘菌変形体に着想を得た環境に応じて変形可能な自律分散型アメーバ様ロボット(自律分散型ロボットシステム)

抄録

Demands for the development of soft robots are now increasing because they can work well under unstructured environment by deforming their bodies. However, systematic design methodology for controlling soft robots with a large number of bodily degrees of freedom has not yet been established. To address this issue, we have focused on Plasmodium of true slime mold, which moves adaptively by deforming their amoeboid body. In our previous work, we constructed a model that allows large deformation of the body on the basis of autonomous decentralized control. In this study, we developed an amoeboid robot to validate the proposed model in the real world.