A study on distributed SMA-net robot control by coupled oscillator system

Author

Sato, Yuichi ; Nagai, Takashi ; Yokoi, Hiroshi ; Mizuno, Takafumi ; Kakazu, Yukinori

Author_Institution

Lab. of Autonomous Syst. Eng., Hokkaido Univ., Sapporo, Japan

fYear

2000

fDate

2000

Firstpage

171

Lastpage

174

Abstract

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

Keywords

actuators; distributed control; distributed processing; flexible structures; oscillators; robots; shape memory effects; coupled oscillator system; distributed SMA-net robot control; emergent behavior control mechanism; highly-distributed information processing system; shape memory alloy net robot; slime mold amoebae; Actuators; Oscillators; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers

Conference_Location

Iizuka

Print_ISBN

0-7803-9805-X

Type

conf

DOI

10.1109/SICE.2000.889674

Filename

889674