抄録
A virtual elastic robot is proposed which has a body with multiple degrees of freedom. It is capable of fitting its body to the given surrounding environment. This study focuses to allow the elastic robot to adapt to various environments. The intended robot is modeled by rigid objects connected by spring joints in a circular structure. Its control system manipulates spring actuators to realize elastic movements. This paper aims to acquire its control system to the robot to behave autonomously. A physical simulation on the computer is done to achieve given tasks for the virtual elastic robot. The task aims to achieve a locomotion which moves toward a destination on a flat ground. Simulation result shows that the elastic robot acquires a locomotion. Moreover, we assume a complicated circumstance in which an obstacle is put. In order to allow the robot to adapt to a complicated circumstance, a simulation experiment results in forming a behavioral pattern of an autonomous locomotion. These experimental results show that the robot is capable of acquiring locomotion in specific circumstance.
