DEVELOPMENT OF FLEXIBLE MANIPULATOR INSPIRED BY OCTOPUS : GRASPING UNKNOWN OBJECTS

In this study, we focus on the intelligent behavior of an octopus and describe the development of a flexible manipulator. The manipulator is controlled by the dynamics of the body such as the flexibility of the sponges, resilience of the rubbers and constraint by the wires. By using the developed manipulator, we show that grasping behaviors and twisting behaviors similar to those of an octopus can be realized by the dynamics of the body without computation in its brain

Abstraction of information using properties of the real world and application to control of autonomous robot

研究成果の概要 (和文) : 本研究では,従来の物理量を測るセンサに代わる枠組みとして,実世界そのものを情報処理機構として利用することにより,環境から少数の汎用かつ主観的情報を直接計測する枠組みを提案し,ロボットの自律制御へ適用した.また,その成果をレスキューロボットの設計に応用し,災害現場などを想定した不整地を自律的に走行可能な高い走破性と自律性を兼ね備えたロボットの実現に成功した.研究成果の概要 (英文) : In this paper, we proposed an approach for abstracting necessary subjective information from large amount of information of the complex real environment by using the properties of the real environment as an information processor. We applied the proposed approach for developing a rescue robot, and we confirmed that both of the autonomy and the mobility could be realized in a high level by the proposed approach