耦合振荡器控制分布式SMA-net机器人的研究

SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545) Pub Date : 2000-07-28 DOI:10.1109/SICE.2000.889674

Y. Sato, T. Nagai, H. Yokoi, T. Mizuno, Y. Kakazu

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引用次数: 4

摘要

提出了一种利用耦合振荡器系统对柔性形状记忆合金网机器人进行控制的方法。SMA-net机器人由12个执行器组成，连接9个节点，可以通过连接和断开节点来改变执行器和节点的数量。控制SMA-net机器人的主要问题是如何适应连接的变化。该控制方法受黏菌变形虫紧急行为控制机制的启发，采用高度分布式的信息处理系统。该控制方法使运动的基本行为能够受到有吸引力的刺激而逃避无吸引力的刺激。

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A study on distributed SMA-net robot control by coupled oscillator system

This paper proposes a method for controlling a flexible SMA (shape memory alloy)-net robot by using a coupled oscillator system. The SMA-net robot consists of 12 actuators that is connected to 9 nodes, and it can change the number of actuators and nodes by connecting and disconnecting of the nodes. Main problem to control SMA-net robot is how to adapt to the changes of the connection. The proposed control method is inspired by the emergent behavior control mechanism of slime mold amoebae and using highly distributed information processing system. The control method enables basic behaviors of movement to attractive stimulus and escape from unattractive stimulus.

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SICE 2000. Proceedings of the 39th SICE Annual Conference. International Session Papers (IEEE Cat. No.00TH8545)

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