Real-time control of walking of insect: self-organization of the constraints and walking patterns

摘要

It is one of the goals of robotics to realize the autonomous robot that can cope with the unpredictably and dynamically changing environment. In order to attain the purpose under the unpredictably changing environment a robot is usually required to solve the inverse problem. Since the imposed purpose on the system takes first priority, the system inevitably adapts to the unpredictably changing environment to attain the purpose. When the robot attains its purpose, several functions such as keeping its walking velocity, reaching its destination, keeping its proper posture etc., should be well coordinated. To coordinate several functions, the proper constraints should be self-organized from the purposes and the current states of the robot. In addition to the constraints, it is necessary some rules to fulfill these constraints. Here we propose a new real-time control mechanism to solve the inverse problem under the unpredictably changing environment.