DocumentCode :
592770
Title :
Comparing locomotion of hierarchical distributed autonomous robot
Author :
Yoshida, Atsushi ; Sakurazawa, Shigeru
Author_Institution :
Future Univ. HAKODATE, Hakodate, Japan
fYear :
2012
fDate :
16-18 Dec. 2012
Firstpage :
218
Lastpage :
223
Abstract :
Locomotion is the most important characteristic of living matter. To clarify the factor makes observers find out autonomy in locomotion of living organism is significant from the perspective of artificial intelligence or emergence. In considering physical basis of autonomy of locomotion, we have to remark following three biotic features; “unidirectional movement generated from asymmetric architecture”, “mismatch between objects of apparent locomotion and of endogenous internal activity in the relation of the parts to the whole” and “homeostasis as motive force of internal activity.” In previous study, we have implemented these features to an autonomous distributed robot consisting of several identical modules, which are connected in a linear arrangement and behave in order to resolve the strain of one-self each other. The results of the experiments changing delay time to resolve the strain and the resolving speed showed that the robot shows wide variety of unidirectional locomotion under specific conditions. Therefore, to understand the meaning of the specific conditions, in this study, we logged change of load and angle for each module during the locomotion. Then, we could find that propagations of load and angle change were occurred during long distance locomotion. This means that postponing and passing outstanding problem to neighbors generate large winding propagation and causes baseless locomotion, which is possible to give autonomy.
Keywords :
mobile robots; motion control; artificial intelligence; asymmetric architecture; biotic features; hierarchical distributed autonomous robot locomotion; linear arrangement; living organism; long distance locomotion; speed resolution; strain resolution; unidirectional locomotion; unidirectional movement; winding propagation; Delay; Materials; Organisms; Robot sensing systems; Servomotors; Strain;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System Integration (SII), 2012 IEEE/SICE International Symposium on
Conference_Location :
Fukuoka
Print_ISBN :
978-1-4673-1496-1
Type :
conf
DOI :
10.1109/SII.2012.6427312
Filename :
6427312
Link To Document :
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