Emergence of locomotion through autonomous parameter tuning

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K03730
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 12040:Applied mathematics and statistics-related
• Research Institution: University of Toyama
• Principal Investigator: Ueda Keiichi 富山大学, 学術研究部理学系, 教授 (00378960)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: 自律分散システム / 自己組織化 / ロコモーション

Outline of Final Research Achievements

We proposed a model for estimating coefficients in coupled oscillator systems. We demonstrated that the model decreases the difference between the target orbit and the current orbit. Additionally, the model's performance is improved by incorporating a small chaotic external force. Furthermore, we proposed a parameter tuning model for fluid dynamics. The model automatically adjusts the parameter values according to the environment and exhibits the spontaneous generation of a stable unidirectional flow.

Free Research Field

応用数学

Academic Significance and Societal Importance of the Research Achievements

パラメーターを自動的に調整するアルゴリズムの提案により，ロコモーションの創発機構の数理的理解に貢献できると考えている。また，提案モジュールは自律分散処理によるロボット制御に応用されることが期待される。