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


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Authors

Kim, Y 
Nurzaman, SG 
Fukushima, EF 

Abstract

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 bodyenvironment dynamics.

Description

Keywords

46 Information and Computing Sciences, 4608 Human-Centred Computing, 4602 Artificial Intelligence

Journal Title

Proceedings - IEEE International Conference on Robotics and Automation

Conference Name

2015 IEEE International Conference on Robotics and Automation (ICRA)

Journal ISSN

1050-4729
2577-087X

Volume Title

Publisher

IEEE