2026-03-16T00:32:51Z https://hiroshima.repo.nii.ac.jp/oai

oai:hiroshima.repo.nii.ac.jp:02006173 2025-02-21T06:50:12Z 1730444907710

Fluid-filled Soft-bodied Amoeboid Robot Inspired by Plasmodium of True Slime Mold Umedachi, Takuya Umedachi Takuya Idei, Ryo Idei Ryo Nakagaki, Toshiyuki Nakagaki Toshiyuki Kobayashi, Ryo Kobayashi Ryo Ishiguro, Akio Ishiguro Akio open access (c) 2012. Taylor & Francis Ltd. All rights reserved. Biologically inspired robot fluid circuit decentralized control sensory-motor coordination modular robot 520 This paper presents a fluid-filled soft-bodied amoeboid robot inspired by plasmodium of true slime mold. The significant features of this robot are twofold: (1) the robot has fluid circuit (i.e., cylinders and nylon tubes filled with fluid) and truly soft and deformable body stemming from Real-time Tunable Springs (RTSs), the former seals protoplasm to induce global physical interaction between the body parts and the latter is used for elastic actuators; and (2) a fully decentralized control using coupled oscillators with completely local sensory feedback mechanism is realized by exploiting the global physical interaction between the body parts stemming from the fluid circuit. The experimental results show that this robot exhibits adaptive locomotion without relying on any hierarchical structure. The results obtained are expected to shed new light on design scheme for autonomous decentralized control systems. Taylor & Francis Ltd 2012 eng journal article AO https://hiroshima.repo.nii.ac.jp/records/2006173 10.1163/156855312X626316 http://dx.doi.org/10.1163/156855312X626316 0169-1864 AA10679021 Advanced Robotics Advanced Robotics 26 7 693 693 707 https://hiroshima.repo.nii.ac.jp/record/2006173/files/AdvRobotic_26_693.pdf 4.2 MB