2013 Fiscal Year Final Research Report
Dynamics Based Intelligence of Redundant Swarm Mechanical Systems with Adaptability
| Project/Area Number |
23360105
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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 |
Dynamics/Control
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| Research Institution | Kyoto University |
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Principal Investigator |
MATSUNO FUMITOSHI 京都大学, 工学(系)研究科(研究院), 教授 (00190489)
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| Project Period (FY) |
2011-04-01 – 2014-03-31
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| Keywords | 可変拘束機能 / 可変構造機能 / 環境構造可変機能 / 超冗長機械システム群 / ダイナミクスベースト制御 / 群制御 / 群知能 |
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| Research Abstract |
In this study dynamics based intelligence of redundant swarm mechanical systems with adaptability is considered. Dynamics is essential to intelligence of action of living things. The objective of this study is extension of concept of dynamics based control of individual to that of swarm. We consider following 4 main topics. (1). Hybrid system with changeable constraints: Sinus-lifting and side-winding motions of a living snake and a jumping function of a snake-like robot are considered. (2). Modular robot systems with function of changeable structure: Moving strategies of one unit of three-legged modular robot are generated by the learning method PI2. (3). Decentralized control of swarm robots: Decentralized control of multiple mobile robots using only local sensing information is designed. (4). Analysis of altruistic behavior of ants: By using simulators based on a PDE model effectiveness of the plaguing behavior as an altruistic behavior is analyzed.
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