A Collective Behavioral Approach with Coupled Oscillators to Understanding Mobiligence

本研究旨在深入研究脑-体耦合，即控制系统和机械系统应该如何耦合。这项研究的一个重要特点是我们采用了极简主义的方法。更具体地说，我们专注于“具体化”耦合非线性振荡器系统，通过它我们产生了最原始但灵活的运动之一，即变形虫运动，希望这种原始性使我们能够有效地研究这个问题。我们所做的模拟有力地支持存在一种“良好平衡”的耦合，在这种耦合下出现了诸如实时适应性和容错等重要能力。

This study is intended to intensively investigate the brain-body coupling, i.e., how control and mechanical systems should be coupled. One of the significant features of this study is that we have employed a minimalistic approach. More specifically, we have focused on an "embodied" coupled nonlinear oscillator systems by which we have generated one of the most primitive yet flexible locomotion, i.e., amoeboid locomotion, in the hope that this primitiveness allows us to investigate the question effectively. Simulations we have done strongly support that there exists a "well-balanced" coupling, under which significant abilities such as real-time adaptability and fault tolerance emerge.