Date: 30 Aug 2001

Control System of Flexible Structure Multi-cell Robot Using Amoeboid Self-Organization Mode

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In this paper, we present a distributed multi-cell robot control system that enables autonomous movement. Flexible deformation and actions are features of living things such as amoebae. One amoeba has neither specialized sensitive organs nor motile organs, however, as a whole, a slime of amoebae can present unified movement. That is, organisms such as amoebae own various self-organization abilities. The control system proposed in this study rose from such kind of self-organization, by which cell units move together to give rise to the movement of multi-cell robots, according to only local interaction. Especially, in this study, self-organization phenomena including entrainment of non-linear oscillators were modeled, and effectiveness was shown through computer experiments.