2A1-F24 位相制御と筋緊張制御に着目した制御系と機構系の連関様式 : ヘビ型ロボットを用いた事例研究

概要

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A systematic way of designing autonomous decentralized control system is still lacking, despite its appealing concept. To alleviate this, we have so far developed a design scheme of interaction between the control and mechanical systems (i. e., brain-body interaction) based on "discrepancy function". However, it was still insufficient to fully describe the brain-body interaction, because the dynamics of spatial distribution of muscle tonus was not considered. In this paper, we propose a design scheme of the brain-body interaction in which not only phasic but also tonic control is considered, by taking serpentine locomotion as a practical example. Its validity is confirmed by simulations, where adaptive locomotion is emerged through the coordination of the phasic and tonic control.
一般社団法人日本機械学会の論文