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Accession number;99A0938077
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| Title;Optimal Control with An Autonomous Distributed System for An Insect Walking Robot. |
| Author;
AKIMOTO KAZUSHI
(Tohoku Univ.)
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Journal Title;Record of Electrical and Communication Engineering Conversazione, Tohoku University
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Journal Code:F0511A
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ISSN:0385-7719
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VOL.68;NO.1;PAGE.47-50(1999)
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| Figure&Table&Reference;FIG.11, REF.5 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;Based on the principle of biological control system, we designed a walking control system of a hexapod-walking robot which can generate gait patterns optimizing energy efficiency depending on walking velocity and external load. This system was hypothesized to have the rule that each leg autonomously optimized its own energy efficiency, and have the cooperative and/or competitive interaction among legs. The principle of the autonomous distributed system proposed here will be the new dynamic method to solve the optimization problem that an objective function is undefined in advance, and it may be applicable to various optimal control system working in the real world. (author abst.) |
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