Decentralized distributed parameter tuning model to generate unidirectional movements

Abstract

This study proposes a module designed for the automatic parameter control of peristaltic locomotion systems. The module comprises two populations of oscillators, each responsible for controlling the phase of periodic elongation–contraction motion and the friction force exerted by the ground, respectively. The parameter control algorithm operates independently in each module, with parameters updated through a selection algorithm applied to the elements in each module. Peristaltic locomotion systems, equipped with the proposed modules in the body segments, exhibit autonomous parameter controls, resulting in stable unidirectional locomotion. Consequently, the system can adapt to various environmental changes. Because the modules do not interact with each other, the system acts as a decentralized distributed system; thus, it is scalable to several body segments.