2026-03-11T16:02:54Z 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 Idei, Ryo Nakagaki, Toshiyuki Kobayashi, Ryo Ishiguro, Akio 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. http://purl.org/coar/resource_type/c_6501 Taylor & Francis Ltd 2012 AO 0169-1864 AA10679021 693 Advanced Robotics 7 26 707 693 Advanced Robotics https://hiroshima.repo.nii.ac.jp/records/2006173 eng 10.1163/156855312X626316 http://dx.doi.org/10.1163/156855312X626316 open access (c) 2012. Taylor & Francis Ltd. All rights reserved.