CUED Publications database

A self organization approach to goal-directed multimodal locomotion based on Attractor Selection Mechanism

Kim, Y and Nurzaman, SG and Iida, F and Fukushima, EF (2015) A self organization approach to goal-directed multimodal locomotion based on Attractor Selection Mechanism. In: UNSPECIFIED pp. 5061-5066..

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Abstract

© 2015 IEEE. The realization and utilization of multimodal locomotion to enable robots to accomplish useful tasks is a significantly challenging problem in robotics. Related to the challenge, it is crucial to notice that the locomotion dynamics of the robots is a result of interactions between a particular control structure and its body-environment dynamics. From this perspective, this paper presents a simple control structure known as Attractor Selection Mechanism that enables a robot to self organize its multiple locomotion modes for accomplishing a goal-directed locomotion task. Despite the simplicity, the approach enables the robot to automatically explore different body-environment dynamics and stabilize onto particular attractors which corresponds to locomotion modes relevant to accomplish the task. The robot used throughout the paper is a curved-beam hopping robot, which despite its simple actuation method, possesses rich and complex body-environment dynamics.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Subjects: UNSPECIFIED
Divisions: Div F > Machine Intelligence
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:42
Last Modified: 17 Oct 2017 01:40
DOI: