| Budget Amount *help |
¥18,460,000 (Direct Cost: ¥14,200,000、Indirect Cost: ¥4,260,000)
Fiscal Year 2019: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
Fiscal Year 2018: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2017: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2016: ¥5,980,000 (Direct Cost: ¥4,600,000、Indirect Cost: ¥1,380,000)
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| Outline of Final Research Achievements |
Current artificial systems have difficulty in adapting to their physical damages and changes in the environment. To address this issue, we focused on brittle stars which can occasionally lose some of their arms and promptly coordinate the remaining arms to escape from predators, and aimed to elucidate the control mechanism underlying their resilient locomotion through behavioral experiments, mathematical modeling, and robot experiments. Specifically, we observed the way of inter- and intra-arm coordination during the locomotion of brittle stars whose arms were partially removed, and proposed a mathematical model on this basis. The proposed model was validated by real-world experiments with a brittle star-like robot developed.
We also performed behavioral experiments in which circumoral nerve ring was partially transected, and clarified the mechanism for the determination of moving direction.
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