ソフトロボットの粘弾性によるカオス結合系の運動創発変化

抄録

In the real world, robots have to adapt to the change of their body properties and environment. Coupled chaotic field was proposed for dynamic emergence and adaptation of embodied behavior reflecting the current body-environment dynamics. This model is suitable for soft robotics. However, the system had not been adopted into soft robotics. We applied it to a simulation model and a real soft robot and showed their adaptive motions. Moreover, we investigated the influence of body softness on emergent behavior in the simulation model. We showed the body softness makes the movement of the robot unstable and changeable and the moving range enlarged.