المؤلفون: Takeshi Kano, Shokichi Kawamura, Taishi Mikami, Daiki Wakita, Akio Ishiguro

المصدر: Journal of Robotics and Mechatronics. 2024, 36(3):546-554

المؤلفون: Hiroki Nishii, Shoei Hattori, Akira Fukuhara, Hisashi Ishihara, Takeshi Kano, Akio Ishiguro, Koichi Osuka

المصدر: Journal of Robotics and Mechatronics. 2024, 36(2):458-471

المؤلفون: Taishi Mikami, Daiki Wakita, Ryo Kobayashi, Akio Ishiguro, Takeshi Kano

المصدر: Frontiers in Neurorobotics, Vol 17 (2023)

مصطلحات موضوعية: swarm, entangled blob, active matter, soft robotics, adaptive locomotion, Neurosciences. Biological psychiatry. Neuropsychiatry, RC321-571

الوصف: Worms often aggregate through physical connections and exhibit remarkable functions such as efficient migration, survival under environmental changes, and defense against predators. In particular, entangled blobs demonstrate versatile behaviors for their survival; they form spherical blobs and migrate collectively by flexibly changing their shape in response to the environment. In contrast to previous studies on the collective behavior of worm blobs that focused on locomotion in a flat environment, we investigated the mechanisms underlying their adaptive motion in confined environments, focusing on tubificine worm collectives. We first performed several behavioral experiments to observe the aggregation process, collective response to aversive stimuli, the motion of a few worms, and blob motion in confined spaces with and without pegs. We found the blob deformed and passed through a narrow passage using environmental heterogeneities. Based on these behavioral findings, we constructed a simple two-dimensional agent-based model wherein the flexible body of a worm was described as a cross-shaped agent that could deform, rotate, and translate. The simulations demonstrated that the behavioral findings were well-reproduced. Our findings aid in understanding how physical interactions contribute to generating adaptive collective behaviors in real-world environments as well as in designing novel swarm robotic systems consisting of soft agents.

وصف الملف: electronic resource

العلاقة: https://www.frontiersin.org/articles/10.3389/fnbot.2023.1207374/fullTest; https://doaj.org/toc/1662-5218Test

الوصول الحر: https://doaj.org/article/bf92262961dc4c3a925bb4cff3cd9d5fTest

المؤلفون: Akio ISHIGURO, Akira FUKUHARA, Hayato AMAIKE, Takeshi KANO, Tomoe MAETA, 前田 友絵, 加納 剛史, 天池 隼斗, 石黒 章夫, 福原 洸

المصدر: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2023, :2-G09

المؤلفون: Gosei UEDA, Joji NAKAMA, Keiichi ARAKAKI, Kie YAMASHIRO, Masaharu TATETSU, Masashi YAMAMOTO, Moritoshi HIGA, Shigeki SAWADA, Takeshi KANO, Tsutomu HIGA, Yasunari NAKASONE, 上田 剛生, 仲宗根 康成, 仲間 錠嗣, 山城 貴愛, 山本 雅史, 新垣 敬一, 比嘉 努, 比嘉 盛敏, 澤田 茂樹, 狩野 岳史, 立津 政晴

المصدر: 口腔顎顔面外傷 : 日本口腔顎顔面外傷学会誌 / Journal of the Japanese Society of Oral and Maxillofacial Traumatology. 2023, 22(2):102

المؤلفون: Takeshi Kano, Takeru Kanno, Taishi Mikami, Akio Ishiguro

المصدر: Frontiers in Robotics and AI, Vol 9 (2022)

مصطلحات موضوعية: collision avoidance, active sensing, decentralized control, mobile agents, autonomous systems, Mechanical engineering and machinery, TJ1-1570, Electronic computers. Computer science, QA75.5-76.95

الوصف: There is an increasing demand for multi-agent systems in which each mobile agent, such as a robot in a warehouse or a flying drone, moves toward its destination while avoiding other agents. Although several control schemes for collision avoidance have been proposed, they cannot achieve quick and safe movement with minimal acceleration and deceleration. To address this, we developed a decentralized control scheme that involves modifying the social force model, a model of pedestrian dynamics, and successfully realized quick, smooth, and safe movement. However, each agent had to observe many nearby agents and predict their future motion; that is, unnecessary sensing and calculations were required for each agent. In this study, we addressed this issue by introducing active sensing. In this control scheme, an index referred to as the “collision risk level” is defined, and the observation range of each agent is actively controlled on this basis. Through simulations, we demonstrated that the proposed control scheme works reasonably while reducing unnecessary sensing and calculations.

وصف الملف: electronic resource

العلاقة: https://www.frontiersin.org/articles/10.3389/frobt.2022.992716/fullTest; https://doaj.org/toc/2296-9144Test

الوصول الحر: https://doaj.org/article/f91118514c804671b24a733ab8ebbcc8Test

المؤلفون: Kotaro Yasui, Shunsuke Takano, Takeshi Kano, Akio Ishiguro

المصدر: Frontiers in Robotics and AI, Vol 9 (2022)

مصطلحات موضوعية: multi-legged locomotion, centipede, decentralized control, sensory feedback, irregular terrain, self-organization, Mechanical engineering and machinery, TJ1-1570, Electronic computers. Computer science, QA75.5-76.95

الوصف: Multi-legged animals such as myriapods can locomote on unstructured rough terrain using their flexible bodies and legs. This highly adaptive locomotion emerges through the dynamic interactions between an animal’s nervous system, its flexible body, and the environment. Previous studies have primarily focused on either adaptive leg control or the passive compliance of the body parts and have shown how each enhanced adaptability to complex terrains in multi-legged locomotion. However, the essential mechanism considering both the adaptive locomotor circuits and bodily flexibility remains unclear. In this study, we focused on centipedes and aimed to understand the well-balanced coupling between the two abovementioned mechanisms for rough terrain walking by building a neuromechanical model based on behavioral findings. In the behavioral experiment, we observed a centipede walking when part of the terrain was temporarily removed and thereafter restored. We found that the ground contact sense of each leg was essential for generating rhythmic leg motions and also for establishing adaptive footfall patterns between adjacent legs. Based on this finding, we proposed decentralized control mechanisms using ground contact sense and implemented them into a physical centipede model with flexible bodies and legs. In the simulations, our model self-organized the typical gait on flat terrain and adaptive walking during gap crossing, which were similar to centipedes. Furthermore, we demonstrated that the locomotor performance deteriorated on rough terrain when adaptive leg control was removed or when the body was rigid, which indicates that both the adaptive leg control and the flexible body are essential for adaptive locomotion. Thus, our model is expected to capture the possible essential mechanisms underlying adaptive centipede walking and pave the way for designing multi-legged robots with high adaptability to irregular terrain.

وصف الملف: electronic resource

العلاقة: https://www.frontiersin.org/articles/10.3389/frobt.2022.797566/fullTest; https://doaj.org/toc/2296-9144Test

الوصول الحر: https://doaj.org/article/7b815d46b2f94f11b435648b7c91cfdaTest

المؤلفون: Akira Fukuhara, Wataru Suda, Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

المصدر: Frontiers in Neurorobotics, Vol 16 (2022)

مصطلحات موضوعية: hexapod locomotion, inter-limb coordination, decentralized control algorithm, active load sensing, chains of reflex, Neurosciences. Biological psychiatry. Neuropsychiatry, RC321-571

الوصف: Insects can flexibly coordinate their limbs to adapt to various locomotor conditions, e.g., complex environments, changes in locomotion speed, and leg amputation. An interesting aspect of insect locomotion is that the gait patterns are not necessarily stereotypical but are often highly variable, e.g., searching behavior to obtain stable footholds in complex environments. Several previous studies have focused on the mechanism for the emergence of variable limb coordination patterns. However, the proposed mechanisms are complicated and the essential mechanism underlying insect locomotion remains elusive. To address this issue, we proposed a simple mathematical model for the mechanism of variable interlimb coordination in insect locomotion. The key idea of the proposed model is “decentralized active load sensing,” wherein each limb actively moves and detects the reaction force from the ground to judge whether it plays a pivotal role in maintaining the steady support polygon. Based on active load sensing, each limb stays in the stance phase when the limb is necessary for body support. To evaluate the proposed model, we conducted simulation experiments using a hexapod robot. The results showed that the proposed simple mechanism allows the hexapod robot to exhibit typical gait patterns in response to the locomotion speed. Furthermore, the proposed mechanism improves the adaptability of the hexapod robot for leg amputations and lack of footholds by changing each limb's walking and searching behavior in a decentralized manner based on the physical interaction between the body and the environment.

وصف الملف: electronic resource

العلاقة: https://www.frontiersin.org/articles/10.3389/fnbot.2022.645683/fullTest; https://doaj.org/toc/1662-5218Test

الوصول الحر: https://doaj.org/article/eec91f3ac88048c6a8e49b95347f98cdTest

المؤلفون: Akio Ishiguro, Kotaro Yasui, Takeshi Kano, 加納 剛史, 安井 浩太郎, 石黒 章夫

المصدر: 日本ロボット学会誌 / Journal of the Robotics Society of Japan. 2022, 40(4):283

المؤلفون: Akio ISHIGURO, Kotaro YASUI, Satoshi YAMAJI, Takeshi KANO, 加納 剛史, 安井 浩太郎, 山地 聡史, 石黒 章夫

المصدر: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2022, :2-P08