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dc.contributor.authorKim, Yongjaeen
dc.contributor.authorNurzaman, Surya Gen
dc.contributor.authorIida, Fumiyaen
dc.contributor.authorFukushima, Edwardo Fen
dc.date.accessioned2015-05-19T10:37:24Z
dc.date.available2015-05-19T10:37:24Z
dc.date.issued2015-05-19en
dc.identifier.citationKim et al. 2015 IEEE International Conference on Robotics and Automation (ICRA) pp. 5061-5066. doi: 10.1109/ICRA.2015.7139903
dc.identifier.issn1050-4729
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/247796
dc.description.abstractThe 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.
dc.languageEnglishen
dc.language.isoenen
dc.publisherIEEE
dc.titleA Self Organization Approach to Goal-directed Multimodal Locomotion Based on Attractor Selection Mechanismen
dc.typeConference Object
dc.description.versionThis is the author accepted manuscript. The final version is available from IEEE via http://dx.doi.org/10.1109/ICRA.2015.7139903en
prism.endingPage5066
prism.publicationDate2015en
prism.publicationName2015 IEEE International Conference on Robotics and Automation (ICRA)en
prism.startingPage5061
rioxxterms.versionofrecord10.1109/ICRA.2015.7139903en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2015-05-19en
dc.contributor.orcidIida, Fumiya [0000-0001-9246-7190]
dc.identifier.eissn2577-087X
rioxxterms.typeConference Paper/Proceeding/Abstracten


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