A self organization approach to goal-directed multimodal locomotion based on Attractor Selection Mechanism
Yongjae Kim, Surya G. Nurzaman, Fumiya Iida, Edwardo F. Fukushima
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 body-environment dynamics.
BibTeX
@inproceedings{icra2015_aselforganizatio,
title = {A self organization approach to goal-directed multimodal locomotion based on Attractor Selection Mechanism},
author = {Yongjae Kim and Surya G. Nurzaman and Fumiya Iida and Edwardo F. Fukushima},
booktitle = {ICRA 2015},
year = {2015}
}