2A1-O02 Clarification of Decentralized Control Mechanism Underlying Morphology-dependent Ophiuroid Locomotion(Robotic systems based on autonomous decentralized architecture)

2013 ◽  
Vol 2013 (0) ◽  
pp. _2A1-O02_1-_2A1-O02_4
Author(s):  
Eiki SATO ◽  
Takeshi KANO ◽  
Hitoshi AONUMA ◽  
Akio ISHIGURO
Keyword(s):  
Decentralized Control ◽  
Control Mechanism ◽  
Robotic Systems ◽  
Decentralized Architecture

An approach towards decentralized control of cooperating non-autonomous multiple robots

Robotica ◽  
2000 ◽  
Vol 18 (5) ◽  
pp. 495-504 ◽  
Author(s):  
Khalid Munawar ◽  
Masayoshi Esashi ◽  
Masaru Uchiyama
Keyword(s):  
Decentralized Control ◽  
Degrees Of Freedom ◽  
Real Life ◽  
Robotic Systems ◽  
Present System ◽  
Multiple Robots ◽  
Experimental Implementation ◽  
Control Scheme ◽  
The Common ◽  
Event Based

This paper introduces an event-based decentralized control scheme for the cooperation between multiple manipulators. This is in contrast to the common practice of using only centralized controls for such cooperation which, consequently, greatly limit the flexibility of robotic systems. The manipulators used in the present system are very simple with only two degrees of freedom, while even one of them is passive. Moreover these manipulators use very few and commonly available sensors only. Computer simulations indicated the applicability of the event-based decentralized control scheme for multi-manipulator cooperation, while real-life experimental implementation has proved that the proposed decentralized control scheme is fairly applicable for very simple and even under-actuated systems too. Hence, this work has opened new doors towards further research in this area. The proposed control scheme is expected to be equally applicable for any mobile or immobile multi-robotic system.

Decentralized Exergy/Entropy Thermodynamic Control for Collective Robotic Systems

2007 ◽  
Author(s):  
Rush D. Robinett ◽  
David G. Wilson
Keyword(s):  
Decentralized Control ◽  
Direct Method ◽  
Robotic Systems ◽  
Control Law ◽  
Thermodynamic Control ◽  
Order Accuracy ◽  
Control Laws ◽  
Vector Lyapunov Function ◽  
Collective Control ◽  
Plume Tracing

This paper develops a distributed decentralized control law for collective robotic systems. The control laws are developed based on exergy/entropy thermodynamic concepts and information theory. The source field is characterized through second-order accuracy. The proposed feedback control law stability for both the collective and individual robots are demonstrated by selecting a general Hamiltonian based solution developed as Fisher Information Equivalency as the vector Lyapunov function. Stability boundaries and system performance are then determined with Lyapunov’s direct method. A robot collective plume tracing numerical simulation example demonstrates this decentralized exergy/entropy collective control architecture.

scholarly journals Decoding Decentralized Control Mechanism Underlying Adaptive and Versatile Locomotion of Snakes

2020 ◽  
Vol 60 (1) ◽  
pp. 232-247 ◽  
Author(s):  
Takeshi Kano ◽  
Akio Ishiguro
Keyword(s):  
Decentralized Control ◽  
Control Mechanism ◽  
Three Dimensional ◽  
Evolutionary Process ◽  
The Body ◽  
Synthetic Approach ◽  
Head Part ◽  
Tail Part ◽  
Sinus Lifting

Abstract Snakes have no limbs and can move in various environments using a simple elongated limbless body structure obtained through a long-term evolutionary process. Specifically, snakes have various locomotion patterns, which they change in response to conditions encountered. For example, on an unstructured terrain, snakes actively utilize the terrain’s irregularities and move effectively by actively pushing their bodies against the “scaffolds” that they encounter. In a narrow aisle, snakes exhibit concertina locomotion, in which the tail part of the body is pulled forward with the head part anchored, and this is followed by the extension of the head part with the tail part anchored. Furthermore, snakes often exhibit three-dimensional (3-D) locomotion patterns wherein the points of ground contact change in a spatiotemporal manner, such as sidewinding and sinus-lifting locomotion. This ability is achieved possibly by a decentralized control mechanism, which is still mostly unknown. In this study, we address this aspect by employing a synthetic approach to understand locomotion mechanisms by developing mathematical models and robots. We propose a Tegotae-based decentralized control mechanism and use a 2-D snake-like robot to demonstrate that it can exhibit scaffold-based and concertina locomotion. Moreover, we extend the proposed mechanism to 3D and use a 3-D snake-like robot to demonstrate that it can exhibit sidewinding and sinus-lifting locomotion. We believe that our findings will form a basis for developing snake-like robots applicable to search-and-rescue operations as well as understanding the essential decentralized control mechanism underlying animal locomotion.

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