A Dynamical Approach to Self-assembly Inspired by Ontogenetic Process

• Project/Area Number: 19360112
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tohoku University
• Principal Investigator: ISHIGURO Akio Tohoku University, 大学院・工学研究科, 教授 (90232280)
• Co-Investigator(Kenkyū-buntansha): SHIMIZU Masahiro 東北大学, 大学院・工学研究科, 助教 (50447140)
• Project Period (FY): 2007 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥16,380,000 (Direct Cost: ¥12,600,000、Indirect Cost: ¥3,780,000); Fiscal Year 2009: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2008: ¥5,590,000 (Direct Cost: ¥4,300,000、Indirect Cost: ¥1,290,000); Fiscal Year 2007: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
• Keywords: 自己組み立て / 自己修復 / 群ロボット / ダイナミカルアプローチ / 自律分散制御 / 創発 / 非線形振動子 / 相互引き込み / 結合振動子系

Research Abstract

This study discussed the realization of self-assembly with the use of a multi-robotic system each of which has simple motile function. A significant feature of this study is that form generation by self-assembly is considered as the result of time evolution toward the most dynamically stable state. Owing to this, the proposed method also satisfies significant ability of self-repair without making any modification to the proposed algorithm. We also validated our proposed method by building about 20 real physical robotic agents. Experimental results show that stable and spontaneous self-assembly is achieved.

Research Products

• [Journal Article] 単純な運動機能を有する結合振動子系を活用した自己組み立て (2008)
  • Author(s): 鈴木雄也
  • Journal Title: 第20回自律分散システム・シンポジウム資料 Pages: 183-186
• [Presentation] 要素間結合の生成と崩壊のバランスに基づくダイナミックセルフアセンブリ (2010)
  • Author(s): 月舘統宙, 清水正宏, 菅原研, 石黒章夫
  • Organizer: 第22回自律分散システム・シンポジウム
  • Place of Presentation: 名古屋
  • Year and Date: 2010-01-31
• [Presentation] Stable and Spontaneous Self-assembly of a Multi-robotic System by Exploiting Physical Interaction between Agents (2009)
  • Author(s): Kazuya Suzuki, Tsunamichi Tsukidate, Masahiro Shimizu, Akio Ishiguro
  • Organizer: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: USA, St. Louis
  • Year and Date: 2009-10-14
• [Presentation] Self-assembly with Simple Robotic Agents (2009)
  • Author(s): Kazuya Suzuki, Tsunamichi Tsukidate, Masahiro Shimizu, Akio Ishiguro
  • Organizer: ICCAS-SICE International Joint Conference 2009
  • Place of Presentation: Japan, Fukuoka
  • Year and Date: 2009-08-19
• [Presentation] Self-assembly with Simple Robotic Agents (2009)
  • Author(s): 鈴木雄也
  • Organizer: ICCAS-SICE International Joint Conference 2009
  • Place of Presentation: 福岡
  • Year and Date: 2009-08-19
• [Presentation] ダイナミックセルフアセンブリを活用した構造物の構築と移動 (2009)
  • Author(s): 月舘統宙, 鈴木雄也, 清水正宏, 菅原研, 石黒章夫
  • Organizer: ロボティクス・メカトロニクス講演2009
  • Place of Presentation: 福岡
  • Year and Date: 2009-05-26
• [Presentation] 自己組み立て・自己修復を行う群ロボットの開発 (2009)
  • Author(s): 鈴木雄也, 月舘統宙, 清水正宏, 石黒章夫
  • Organizer: ロボティクス・メカトロニクス講演会2009
  • Place of Presentation: 福岡
  • Year and Date: 2009-05-26
• [Presentation] ダイナミックセルフアセンブリを活用した構造物の構築と異動 (2009)
  • Author(s): 月舘統宙
  • Organizer: ロボティクス・メカトロニクス講演会2009
  • Place of Presentation: 福岡
  • Year and Date: 2009-05-26
• [Presentation] 結合振動子系を活用した自発的自己組み立ての実験的検証 (2008)
  • Author(s): 鈴木雄也, 月舘統宙, 中田武志, 清水正宏, 石黒章夫
  • Organizer: 計測自動制御学会SI部門講演会
  • Place of Presentation: 岐阜
  • Year and Date: 2008-12-05
• [Presentation] 結合振動子系を活用した自発的自己組み立ての実験的検証 (2008)
  • Author(s): 鈴木雄也
  • Organizer: 計測自動制御学会SI部門講演会
  • Place of Presentation: 岐阜市
  • Year and Date: 2008-12-05
• [Presentation] Self-assembly through the Local Interaction between "Embodied" Nonlinear Oscillators with Simple Motile Function (2008)
  • Author(s): Kazuya Suzuki, Tsunamichi Tsukidate, Takeshi Nakada, Masahiro Shimizu, Akio Ishiguro
  • Organizer: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: France, Nice
  • Year and Date: 2008-09-24
• [Presentation] Self-assembly through the Local Interaction between "Embodied" Nonlinear scillators with Simple Motile Function (2008)
  • Author(s): Kazuya Suzuki
  • Organizer: 2008 IEEE / RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Nice(フランス)
  • Year and Date: 2008-09-24
• [Presentation] 結合振動子系を活用した自発的自己組み立てを行う群ロボットシステムの実験的検証 (2008)
  • Author(s): 月舘統宙, 鈴木雄也, 中田武志, 清水正宏, 石黒章夫
  • Organizer: 第14回創発システム・シンポジウム
  • Place of Presentation: 富山
  • Year and Date: 2008-08-18
• [Presentation] 結合振動子系を活用した自発的自己組み立てを行う群ロボットシステムの実験 (2008)
  • Author(s): 月舘統宙
  • Organizer: 第14回創発システム・シンポジウム
  • Place of Presentation: 富山市
  • Year and Date: 2008-08-18
• [Presentation] 自発的な自己組み立てを実現する群ロボットの開発 (2008)
  • Author(s): 鈴木雄也, 月舘統宙, 清水正宏, 石黒章夫
  • Organizer: 第243回計測自動制御学会東北支部研究会
  • Place of Presentation: 弘前
  • Year and Date: 2008-06-20
• [Presentation] 自発的な自己組み立てを実現する群ロボットの開発 (2008)
  • Author(s): 鈴木雄也
  • Organizer: 第243回計測自動制御学会東北支部研究会
  • Place of Presentation: 弘前市
  • Year and Date: 2008-06-20
• [Presentation] Self-assembly and Self-repair by Exploiting Coupled Nonlinear Oscillators with Simple Motile Function (2008)
  • Author(s): Kazuya Suzuki, Tsunamichi Tsukidate, Masahiro Shimizu, Akio Ishiguro
  • Organizer: 4th International Symposium on Adaptive Motion of Animals and Machines
  • Place of Presentation: U.S.A, Cleveland
  • Year and Date: 2008-06-04
• [Presentation] Self-assembly and Self-repair by Exploiting Coupled Nonlinear Oscillators with Simple Motile Function (2008)
  • Author(s): Kazuya Suzuki
  • Organizer: Proc. of the 4th International Symposium on Adaptive Motion of Animals and Machines
  • Place of Presentation: Cleveland(米国)
  • Year and Date: 2008-06-04
• [Presentation] 単純な運動機能を有する結合振動子系を活用した自己組み立て (2008)
  • Author(s): 鈴木雄也, 月舘統宙, 清水正宏, 石黒章夫
  • Organizer: 第20回自律分散システム・シンポジウム
  • Place of Presentation: 諏訪
  • Year and Date: 2008-01-25
• [Book] 知能の原理 身体性に基づく構成論的アプローチ (2010)
  • Author(s): R. Pfeifer, J. Bongard (細田耕, 石黒章夫 訳)
  • Total Pages: 432
  • Publisher: 共立出版
• [Book] 知能の原理 身体性に基づく構成論的アプローチ (2010)
  • Author(s): R.Pfeifer, J.Bongard, 細田耕, 石黒章夫 訳
  • Total Pages: 432
  • Publisher: 共立出版
• [Remarks] ホームページ等
  • URL: http://www.cmplx.ecei.tohoku.ac.jp/