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

被引：1

作者：

Sato, Y ^{[1
]}

Nagai, T ^{[1
]}

Yokoi, H ^{[1
]}

Mizuno, T ^{[1
]}

Kakazu, Y ^{[1
]}

机构：

[1] Hokkaido Univ, Grad Sch, Lab Autonomous Syst Engn, Sapporo, Hokkaido 060, Japan

来源：

SICE 2000: PROCEEDINGS OF THE 39TH SICE ANNUAL CONFERENCE, INTERNATIONAL SESSION PAPERS | 2000年

关键词：

D O I：

10.1109/SICE.2000.889674

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：171 / 174

页数：4

共 7 条

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