Emergence of Autonomous Behaviors on Elastic Circular Robot Consisting of Modular Units : Planning for a Task with Composite Behaviors

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  • Yoneda Keisuke
    Graduate School of Information Science and Technology, Hokkaido University
  • Suzuki Ikuo
    Graduate School of Information Science and Technology, Hokkaido University
  • Yamamoto Masahito
    Graduate School of Information Science and Technology, Hokkaido University
  • Furukawa Masashi
    Graduate School of Information Science and Technology, Hokkaido University

Description

There are many studies on hardware and software experiments to control autonomous robots. We have focused the elastic robot which has a body with multiple degrees of freedom. The elastic robot consists of homogeneous or heterogeneous simple modules. A feature of them is that their behavior is obtained by an each module movement based on local communications between connected modules. A physical simulation on the computer is carried out to achieve tasks autonomously for a virtual elastic robot. Our goal is to acquire a control system in evolution to achieve a composite task in specific circumstances with and without a obstacle.

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