2009 Fiscal Year Final Research Report
Realization of Adaptive Locomotion based on Dynamic Interaction between Body, Brain, and Environment
| Project/Area Number |
17075009
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| Research Category |
Grant-in-Aid for Scientific Research on Priority Areas
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| Allocation Type | Single-year Grants |
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| Review Section |
Science and Engineering
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| Research Institution | Osaka University |
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Principal Investigator |
HOSODA Koh Osaka University, 工学研究科, 准教授 (10252610)
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| Co-Investigator(Kenkyū-buntansha) |
KIMURA Hiroshi 京都工芸繊維大学, 工芸科学研究科, 教授 (40192562)
TSUJITA Katsuyoshi 大阪工業大学, 工学部, 准教授 (20252603)
INOUE Kousuke 茨城大学, 工学部, 助教 (10344839)
TAKUMA Takashi 大阪工業大学, 工学部, 講師 (40437372)
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| Project Period (FY) |
2005 – 2009
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| Keywords | 移動知 / ロコモーション / 適応 / 反射 / 志向性 |
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| Research Abstract |
Focusing on locomotion, we realized adaptive locomotive control consisting of a rhythmic controller based on reflexes and CPG and a regulatory controller that modulates the interaction between the body and its environment. We suppose that muscular-skeletal structure of a biological system plays a crucial role for realizing such adaptive control. To support this supposition we realize three types of locomotive robots, biped, quadruped, and snake-like robots, out of muscular-skeletal structure, and conduct experiments.
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