「絡まり，ほどけ，そして動き回る」：

イトミミズ塊に学ぶ超不定形群ロボットの設計方策

抄録

Tubificinae is a subfamily of long and thin worm-like organisms. It forms a blob by entangling among soft and long bodied individuals. The blob can generate adaptive behaviors through physical interactions (e.g. entangling) of the individuals. For example, it changes its shape into a snake-like shape to move towards a better environment. Clarifying the underlying mechanism will lead to establish novel swarm robot systems that generate adaptive functions through physical interactions among soft and long bodied robots. However, mechanism that enables such blob to generate adaptive functions has not been elucidated. In this paper, we performed biological experiments and proposed a model that can recapitulate several behaviors of them.