A study on distributed SMA-net robot control by coupled oscillator system
A study on distributed SMA-net robot control by coupled oscillator system
复制标题
耦合振子系统分布式SMA-net机器人控制研究
DOI：
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复制
发表时间：
2000
期刊：
影响因子：
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通讯作者：
Y. Kakazu
中科院分区：
文献类型：
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作者：
Y. Sato;T. Nagai;H. Yokoi;T. Mizuno;Y. Kakazu
提出了一种利用耦合振子系统控制柔性SMA（形状记忆合金）网机器人的方法。SMA网络机器人由12个执行器组成，连接到9个节点，它可以通过连接和断开节点来改变执行器和节点的数量。SMA网络机器人控制的主要问题是如何适应连接的变化。所提出的控制方法的灵感来自于粘菌变形虫的涌现行为控制机制，并使用高度分布式的信息处理系统。该控制方法使运动的基本行为吸引刺激和逃避不吸引刺激。
This paper proposes a method for controlling a flexible SMA (shape memory alloy)-net robot by using a coupled oscillator system. The SMA-net robot consists of 12 actuators that is connected to 9 nodes, and it can change the number of actuators and nodes by connecting and disconnecting of the nodes. Main problem to control SMA-net robot is how to adapt to the changes of the connection. The proposed control method is inspired by the emergent behavior control mechanism of slime mold amoebae and using highly distributed information processing system. The control method enables basic behaviors of movement to attractive stimulus and escape from unattractive stimulus.