| Budget Amount *help |
¥39,390,000 (Direct Cost: ¥30,300,000、Indirect Cost: ¥9,090,000)
Fiscal Year 2015: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
Fiscal Year 2014: ¥7,150,000 (Direct Cost: ¥5,500,000、Indirect Cost: ¥1,650,000)
Fiscal Year 2013: ¥9,880,000 (Direct Cost: ¥7,600,000、Indirect Cost: ¥2,280,000)
Fiscal Year 2012: ¥15,730,000 (Direct Cost: ¥12,100,000、Indirect Cost: ¥3,630,000)
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| Outline of Final Research Achievements |
Most robots are vulnerable to changes in environment and their own morphology such as failures. To overcome this problem, we drew inspiration from an ophiuroid, which is a primitive living organism. An ophiuroid, which consists of a central disc and five functionally interchangeable arms that diverge radially from the central disc, can move away from predators or harmful stimuli by autotomizing its arms. Very interestingly, an ophiuroid can maintain locomotion after losing its arms arbitrarily.
In this study, we modeled the control principle underlying this resilient behavior. We showed that a simple decentralized control scheme could well reproduce that behavior by performing numerical simulations as well as experiments with real physical ophiuroid-like robots.
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