A CPG-based decentralized control of a quadruped robot inspired by true slime mold
A CPG-based decentralized control of a quadruped robot inspired by true slime mold
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受真实粘菌启发的基于 CPG 的四足机器人分散控制
DOI：
10.1109/iros.2010.5650318
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
A. Ishiguro
中科院分区：
文献类型：
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作者：
Takeshi Kano;Koh Nagasawa;D. Owaki;A. Tero;A. Ishiguro
尽管它的吸引力，自主分散控制系统的系统设计尚未实现。为了弥合这一差距，到目前为止，我们采用了一种“回到基础”的方法，灵感来自真正的黏菌，一种原始的生物，其行为纯粹是由类似于中央模式发生器（CPG）的耦合生化振荡器控制的。基于这种自然现象，我们已经成功地开发了一个设计方案，局部感觉反馈控制，导致系统范围内的自适应行为。这种设计方案是基于一个“差异功能”，提取机械系统（即：，身体），控制系统（即：，脑神经系统）和环境之间的差异。本研究的目的是深入研究这种设计方案的有效性，将其应用于四足机器人的运动控制。仿真结果表明，四足机器人具有显着的自适应行为，以响应环境变化和身体属性的变化。我们的研究结果揭示了一个新的设计方法，基于CPG的分散控制的各种类型的运动。
Despite its appeal, a systematic design of an autonomous decentralized control system is yet to be realized. To bridge this gap, we have so far employed a “back-to-basics” approach inspired by true slime mold, a primitive living creature whose behavior is purely controlled by coupled biochemical oscillators similar to central pattern generators (CPGs). Based on this natural phenomenon, we have successfully developed a design scheme for local sensory feedback control leading to system-wide adaptive behavior. This design scheme is based on a “discrepancy function” that extracts the discrepancies among the mechanical system (i:e:, body), control system (i:e:, brain-nervous system) and the environment. The aim of this study is to intensively investigate the validity of this design scheme by applying it to the control of a quadruped locomotion. Simulation results show that the quadruped robot exhibits remarkably adaptive behavior in response to environmental changes and changes in body properties. Our results shed a new light on design methodologies for CPG-based decentralized control of various types of locomotion.