Sontaku-based Decentralized Control and Its Application to Legged Locomotion

Abstract

In natural and social systems, decentralized control plays an important role for generating ordered structure. However, the design principle of decentralized control that is applicable to various systems has not been established. One reason for this is that it is not understood well how a nontrivial macroscopic behavior emerges through interactions among microscopic behaviors of individuals. In this study, we introduce a Japanese concept sontaku, which means “consideration for others”, to design a decentralized control scheme that enables to generate well-coordinated global function. In this paper, we investigated the validity of sontaku-based decentralized control by applying it to legged locomotion.