Simulation of a soft-bodied fluid-driven amoeboid robot that exploits thixotropic flow

Takuya Umedachi, Masakazu Akiyama, Atsushi Tero, Akio Ishiguro

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

2 被引用数 (Scopus)

抄録

This paper presents a two-dimensional simulation model of an amoeboid robot that exhibits locomotion in a decentralized manner. The significant feature to note is that the model does not control friction between parts of the robot and ground explicitly but exploits passive dynamics of the inner fluid of the robot, i.e., thixotropic flow, in order to generate locomotion. Thixotropy is a very interesting rheological property of a fluid to form a gelled structure over time when not subject to shearing and then to liquefy when agitated, which is observed in protoplasmic streaming of amoeba and plasmodium of true slime mold. Simulation results show that embedding this passive dynamics induces morphological positive feedback mechanism, leading to convection of the inner fluid, which in turn generates locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on revealing the secret of how decentralized control should be designed.

本文言語英語
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Automation, ICRA 2011
ページ5123-5128
ページ数6
DOI
出版ステータス出版済み - 2011
外部発表はい
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, 中国
継続期間: 5月 9 20115月 13 2011

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

その他

その他2011 IEEE International Conference on Robotics and Automation, ICRA 2011
国/地域中国
CityShanghai
Period5/9/115/13/11

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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