Moderationism in the immune system: gait acquisition of a legged robot using the metadynamics function

Due to the drastic increase of complexity and scale, conventional centralized control methodology has being encountering its limit. To overcome this problem, recently autonomous decentralized control methodology has been attracting a lot of concerns in variety of fields. Biological system is a remarkable instantiation of autonomous decentralized systems and has been expected to provide various fruitful ideas to engineering fields. Among these systems, in this study we particularly focus on the immune system since it has a lot of interesting features such as regulation mechanism of antibody immunological tolerance, metadynamics function and so on. We propose a new adaptation method for decentralized control systems by paying close attention to “moderationism” in the immune system. Finally we will show the possibility of our approach by taking a gait acquisition problem of a hexapod walking robot as a practical example