True-slime-mould-inspired hydrostatically coupled oscillator system exhibiting versatile behaviours
True-slime-mould-inspired hydrostatically coupled oscillator system exhibiting versatile behaviours
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DOI：
10.1088/1748-3182/8/3/035001
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发表时间：
2013-08
影响因子：
3.4
通讯作者：
T. Umedachi;R. Idei;Kentaro Ito;A. Ishiguro
中科院分区：
文献类型：
--
作者：
T. Umedachi;R. Idei;Kentaro Ito;A. Ishiguro
行为多样性是生命系统不可或缺的属性，这使它们内在地适应和响应动态变化的环境的要求。相比之下，传统的工程方法很难抑制人工系统中的行为多样性，以便在给定环境中达到预期任务的最佳性能。这项研究的目标包括了解赋予生命系统行为多样性的基本机制，并在机器人中实施该机制以展示适应性行为。为此，我们重点研究了一种类似阿米巴的单细胞有机体：真正黏菌的原虫。尽管没有中枢神经系统，但原虫表现出多种多样的时空振荡模式，并在这些模式之间自发切换。通过利用这种行为多样性，它能够根据所遇到的情况表现出适应性行为。受这种有机体的启发，我们使用流体静力耦合振荡器建造了一个真正的物理机器人，这种振荡器可以产生多种振荡图案和图案之间的自发转换。实验结果表明，利用物理流体静力相互作用--机器人的物理动力学--允许简单的相位振荡器促进多种行为。这些结果有助于理解生命系统如何产生多才多艺的适应性行为，以及身体各部分之间的物理相互作用。
Behavioural diversity is an indispensable attribute of living systems, which makes them intrinsically adaptive and responsive to the demands of a dynamically changing environment. In contrast, conventional engineering approaches struggle to suppress behavioural diversity in artificial systems to reach optimal performance in given environments for desired tasks. The goals of this research include understanding the essential mechanism that endows living systems with behavioural diversity and implementing the mechanism in robots to exhibit adaptive behaviours. For this purpose, we have focused on an amoeba-like unicellular organism: the plasmodium of true slime mould. Despite the absence of a central nervous system, the plasmodium exhibits versatile spatiotemporal oscillatory patterns and switches spontaneously among these patterns. By exploiting this behavioural diversity, it is able to exhibit adaptive behaviour according to the situation encountered. Inspired by this organism, we built a real physical robot using hydrostatically coupled oscillators that produce versatile oscillatory patterns and spontaneous transitions among the patterns. The experimental results show that exploiting physical hydrostatic interplay—the physical dynamics of the robot—allows simple phase oscillators to promote versatile behaviours. The results can contribute to an understanding of how a living system generates versatile and adaptive behaviours with physical interplays among body parts.