2021 Fiscal Year Final Research Report
On morpho-free locomotion of animals and robots : from aperture in evolution to non-biomimetic robots
| Project/Area Number |
19K21974
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| Research Category |
Grant-in-Aid for Challenging Research (Exploratory)
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| Allocation Type | Multi-year Fund |
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| Review Section |
Medium-sized Section 21:Electrical and electronic engineering and related fields
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| Research Institution | Osaka University |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
石黒 章夫 東北大学, 電気通信研究所, 教授 (90232280)
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| Project Period (FY) |
2019-06-28 – 2022-03-31
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| Keywords | 生物とロボットのロコモーション / 自律分散制御 / モルフォフリー制御 / 空想生物 |
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| Outline of Final Research Achievements |
In concern with the locomotion control mechanisms for animals and robots, we studied self-organization of locomotion patterns in response to a given body structure, without pre-assuming the body structures of existing animals such as tetrapods, hexapods, or serpentine locomotion, and so on. We developed embedded control modules that function in various parts of the given body plan, analyzed the control mechanisms of existing (or once existed) animals such as horses and paleontopods. Through these studies, we showed that gait expression by distributed control is valid even in tri-radial symmetric bodies that do not exist in nature, and we also verified the classification of locomotion expressed in a stochastically generated random body group.
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| Free Research Field |
制御工学，ロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
自然界にみられる生物のロコモーション（移動）は多彩であるが，これらは進化の果てに得られた一つの結果でしかない．本研究で試みた，その前提になるべくとらわれずに制御メカニズムを実現しようとする本研究のアプローチは，特に実在の生物構造を模倣しなくともよい工学的応用の可能性を広げるほか，実在生物であっても，身体の使用部位が一時的に変化した場合の運動のありようについても，示唆を与え得るものであると考える．
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