Function Emergence of Softly Structured Group of Robots by Vibrating Potential Fields

(1)变形虫机器人作为机器人的软结构群的控制：通过局部强化学习、非线性振子的夹带和混沌神经网络的节律生成，建立了变形虫机器人各部件的控制机制。实现了对机器人的控制。(2)行为和形态进化机器人的开发：我们开发了进化机器人系统，在该系统中，机器人的行为和形态同时进化。(3)液态金属机器人的行为与形态控制：作为柔性结构机器人的一个实例，我们研制了可以自由改变其形态的金属液态机器人。通过场交互控制机器人的电磁场，实现对机器人的控制。(4)场交互情感智能体的发展：作为机器人超越物理交互的一个实例，我们从生物的情感动力学中得到启发，提出了情感智能体。研究了智能体的人工社会特征。(5)助力系统的开发：助力系统包括软人和刚性机器，可以作为软结构机器人群的一个实例。我们已经开发了机器和机器的控制系统，如与人合作。

For the purpose of the function emergence of softly structured group of robots by the vibrating potential fields, we have achieved the following five contributions.(1)Control of amoeba-robot as the soft structure group of robots : We have developed the control mechanism of components of the amoeba robots, by the local reinforcement learning, by the entrainment of non-linear oscillator, and by the rhythms generation in chaos neural networks. We have successfully controlled the robot.(2)Development of robots with behavior and morphology evolution : We have developed the evolutionary robotics system, in which the behavior and the morphology of robots are evolved simultaneously. We have showed that the evolution system can find good shape and action of the robot.(3)Behavior and morphology control of liquid metal robots : As an instance of the softly structure robots, we have developed the metal liquid robot, which can change its morphology freely. We have controlled the robot by controlling its Electro-magneto field.(4)Development of emotional agent group by filed interaction : As an instance of robots beyond the physical interaction, we have proposed the emotional agent, which is inspired from emotion dynamics of creatures. We have investigated the characteristics of artificial society of the agents.(5)Development of power-assist system : The power assist system involves a soft human and a rigid machine, which can be an instance of softly structured group of robots. We have developed the machine and control system for the machine such as collaborating with the human.