2009 Fiscal Year Final Research Report
A Dynamical Approach to Self-assembly Inspired by Ontogenetic Process
| Project/Area Number |
19360112
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku University |
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Principal Investigator |
ISHIGURO Akio Tohoku University, 大学院・工学研究科, 教授 (90232280)
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| Co-Investigator(Kenkyū-buntansha) |
SHIMIZU Masahiro 東北大学, 大学院・工学研究科, 助教 (50447140)
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| Project Period (FY) |
2007 – 2009
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| 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 |
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| 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.
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