身体構造のダイナミクスを利用したReservoir Computingに関する研究

抄録

Some actual creatures calculate not only on their brain but also on their body itself. This is called morphological computation. Physical reservoir computing, which uses body itself as a neural network like system, is one approach of the way of morphological computation. The purpose of this research is to understand the effect of body structure and environment around it by the experiments with Tensegrity structures. When spring constant was large, structures were hard to move and dropped its ability. When input amplitude was large, input could counteract the effect of past input and dropped its ability. In addition, the environment around the body especially how to contact with ground (coefficient of restitution) gave large effect on calculation. With ground, the convergence oscillation’s period and amplitude changed.