1A1-E20 原形質量保存則を活用した流体駆動型アメーバ様ソフトロボット

概要

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This paper presents a soft-bodied fluid-driven amoeboid robot inspired by plasmodium of true slime mold. Significant features of this robot are twofold: (1) the robot has fluidic circuit (i.e., nylon tubes filled with fluid) and truly soft and deformable body stemming from real-time tunable springs, the former serves as protoplasm and the latter is used for elastic actuators; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the long-distance physical interaction between the body parts induced by the law of conservation of protoplasmic mass. Experimental result shows that this robot exhibits truly supple locomotion without relying on any hierarchical structure. The result obtained is expected to shed new light on design scheme for autonomous decentralized control system.
一般社団法人日本機械学会の論文