「手応え関数」に基づく6脚ロコモーションの自律分散制御則

―身体支持に着目した制御則設計―

抄録

Insects exhibit versatile locomotor patterns in response to the environment encountered, e.g., ground, water-surface, or air. Furthermore, they can adapt their locomotion according to changes in their body properties, e.g., leg amputation. Such locomotor patterns are generated via coordination between leg movements, i.e., interlimb coordination mechanism. To elucidate this mechanism, in this study we tried to model the interlimb coordination mechanism underlying hexapod locomotion based on a concept called “TEGOTAE”, a Japanese concept describing how well a perceived reaction matches an expectation. Preliminary experimental results showed that our proposed TEGOTAE-based control scheme allows us to systematically design decentralized interlimb coordination mechanism that can well reproduces insects’ gait patterns.