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Application of Flocking Algorithm to Attitude Control of Humanoid Robot

  • Sho Yamauchi
  • Hidenori Kawamura
  • Keiji Suzuki
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 194)

Abstract

Flocking algorithm of multi agent system is robust and disaster tolerant even though agents face obstacles or destructed. In this paper, we focus on applying these mechanism to single humanoid robot by assuming that the robot is the set of agents. We extend flocking algorithm to be capable of using in single robot and apply it to humanoid robot to maintain standing posture.

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References

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    Reynolds, C.W.: Flocks, herds, and schools: a distributed behavioral model. In: Computer Graphics (ACM SIGGRAPH 1987 Conference Proceedings), vol. 21(4), pp. 25–34 (July 1987)Google Scholar
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    Jakimovski, B., Meyer, B., Maehle, E.: Self-reconfiguring hexapod robot OSCAR using organically inspired approaches and innovative robot leg amputation mechanism. In: International Conference on Automation, Robotics and Control Systems, ARCS 2009, USA, July 13-16 (2009)Google Scholar
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    Olfati Saber, R.: Flocking for multi-agent dynamic systems: Algorithms and theory. IEEE Transactions on Automatic Control 51(3), 401–420 (2006)MathSciNetCrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Hokkaido UniversitySapporoJapan

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