Research Institute of Electrical Communication, Tohoku University, 2-1-1 Katahira, Aoba-ku, Sendai 980-8577, Japan. Author to whom correspondence should be addressed.
Bioinspir Biomim. 2019 Aug 13;14(5):054001. doi: 10.1088/1748-3190/ab2fab.
'Tegotae' is a Japanese concept describing how well a perceived reaction matches a generated action. We previously proposed a novel decentralised control scheme for animals' adaptive locomotion based on a Tegotae function, a function which quantifies Tegotae and is generally given by the product of action and reaction terms. Although this scheme is helpful for extracting common control principles underlying various types of animal locomotion, there remains further room for improvement of its design. Specifically, while the previous works assumed that the action term is given by a sinusoidal function, it is expected that introducing higher Fourier harmonics in the action term improves locomotion performance. In this study, taking earthworm locomotion as an example, we design a Tegotae function whose action term includes higher Fourier harmonics by using a genetic algorithm. We demonstrate via simulations that the performance improves by implementing the higher Fourier harmonics.
“Tegotae”是一个日语概念，描述了感知反应与生成动作之间的匹配程度。我们之前提出了一种新的基于 Tegotae 函数的动物自适应运动分散控制方案，该函数量化了 Tegotae，通常由动作项和反应项的乘积给出。虽然该方案有助于提取各种类型动物运动的共同控制原理，但仍有进一步改进设计的空间。具体来说，虽然之前的工作假设动作项由正弦函数给出，但预计在动作项中引入更高的傅里叶谐波会提高运动性能。在这项研究中，我们以蚯蚓运动为例，通过遗传算法设计了一个包含更高傅里叶谐波的 Tegotae 函数。我们通过模拟证明了实现更高的傅里叶谐波可以提高性能。
