Research Institute of Electrical Communication, Tohoku University, 2-1-1 Katahira, Aoba-ku, Sendai 980-8577, Japan.
Bioinspir Biomim. 2012 Dec;7(4):046012. doi: 10.1088/1748-3182/7/4/046012. Epub 2012 Oct 23.
Autonomous decentralized control is an attractive concept for designing robots that can exhibit highly adaptive animal-like behaviour. However, despite its appeal, previous robots based on this scheme could only adapt to a limited number of environments. Our hypothesis it that this problem can be overcome by simply implementing a scaffold-exploitation mechanism. We draw our inspiration from flatworms, which move over various terrains using their two-dimensional sheet-like body, and we design an autonomous decentralized control scheme for a similar robot based on the scaffold-exploitation mechanism. Simulation results show that a robot with the proposed control scheme can move efficiently over various irregular terrains. Our control scheme is not specific to a certain environment, but will be applicable in any environment; it could thus form the basis for developing a multi-terrestrial robot whose working area covers land, sea and even air.
自主分散控制是设计能够表现出高度适应性动物行为的机器人的一个有吸引力的概念。然而，尽管如此，以前基于这种方案的机器人只能适应有限数量的环境。我们的假设是，通过简单地实现支架利用机制，可以克服这个问题。我们从扁形动物中汲取灵感，它们使用二维片状身体在各种地形上移动，我们基于支架利用机制为类似的机器人设计了一种自主分散控制方案。模拟结果表明，具有所提出控制方案的机器人可以有效地在各种不规则地形上移动。我们的控制方案不是针对特定环境的，而是适用于任何环境；因此，它可以为开发一种工作区域覆盖陆地、海洋甚至空气的多地面机器人奠定基础。
