2P1-C11 創発の概念に基づく超多自由度システムの挙動設計

概要

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In order to deal with the ultra multi-degrees of freedom (DOF) dynamical system, this paper proposes a design methodology for control scheme of ultra multi-DOF dynamical system, which is inspired from emergence of living organisms. With this methodology, a specific function appears to the system only using local interactions of its components. In order to introduce the advantage of emergence to the behavior design of ultra multi-DOF dynamical system, we set the dynamical system as the autonomous decentralized system, and control it with bottom-up scheme, i.e. by setting the local rules for each DOF. We simplify the ultra multi-DOF dynamical system as 242-DOF mass system. Subsystems (point mass) could be connected with the neighboring subsystems by linear actuators. Then, we set local rules to connect/disconnect actuators to realize specific functions. As results of numerical computations, these functions are successfully emerged.
一般社団法人日本機械学会の論文