Study of autonomy created by discrepancy between layers with a hierarchical distributed autonomous robot

摘要

The aim of this study is to ascertain the factor which makes observers find out autonomy in locomotion of object from autonomic movement that living organism have. For this purpose, we focus on three biotic features; “unidirectional locomotion from asymmetric of architecture”, “variance between the object estimated from locomotion appear on the surface and the object of internal motion” and “homeostasis as base of local motion”. We implemented these three biotic features to an autonomous distributed robot consisting of several identical modules. In particular, each modules of the robot behave in order to resolve the strain of oneself. We investigated the effect of delay time to resolve the strain and resolving speed on the locomotion of the robot. This experimental result shows that the robot shows unidirectional locomotion and wide variety of behaviors under specific resolving speed conditions. In a contrasting situation we also investigated the locomotion of the robot whose each module periodically moves independently of strain. Therefore, the robot showed long distance unidirectional locomotion, but did not show wide variety of behavior. These results indicate that wide variety of behaviors of the robot are generated from “homeostasis as base of local motion”, “delay time to resolve the strain” and “resolving speed”. Additionally, as specific resolving speed conditions, the robot which had biotic features showed wide variety of behaviors even the robot was given same parameter. It means that “living organism” and “material” is not conflicting concept. The life is found from inside the relationship among materials.