足場を活用して推進するクモヒトデのロコモーションに内在する自律分散制御則

抄録

Robots are now required to adapt to changes in the environments and physical damages so that they can work under harsh environments. To meet the requirement, we focused on ophiuroid’ s highly adaptive and resilient locomotion. In our previous work, we proposed a decentralized control scheme for the well-balanced coupling between inter- and intra-limb coordination, using local force feedback. However, this scheme could not reproduce an avoidance behavior observed when arms detect reaction forces that impede propulsion. To tackle this problem, in this study, we redesigned a decentralized control scheme based on “ TEGOTAE ”, a Japanese concept describing how well a perceived reaction matches an expectation.