蠕動運動型混合搬送装置の自律分散制御による分節運動の生成

抄録

In a previous study, a peristaltic mixed transport was developed based on the transport principle of the human intestine. This system has excellent scalability because it consists of identical units, but there was room for improvement in scalability because the motion is controlled by a centralized control system. By introducing autonomous decentralized control, similar to the actual control method of human intestines, to this device, it was expected to improve not only scalability but also environmental resistance. Therefore, this study aims to improve scalability by adapting the discrepancy function, which is one of the design methods of autonomous decentralized control, to the control of this device. In this paper, we have succeeded in generating the segmented motion that is predicted to be generated by applying the discrepancy function to the device. [131 words]