Decentralized distributed parameter tuning model to generate unidirectional movements

This study proposes a module designed for the automatic parameter control of peristaltic locomotion systems. The module comprises two populations of oscillators, each responsible for controlling the phase of periodic elongation–contraction motion and the friction force exerted by the ground, respect...

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Bibliographic Details
Published inJapan journal of industrial and applied mathematics Vol. 41; no. 2; pp. 1293 - 1313
Main Authors Horita, Takumi, Ueda, Kei-Ichi
Format Journal Article
LanguageEnglish
Published Tokyo Springer Japan 01.05.2024
Springer Nature B.V
Subjects
Algorithms
Applications of Mathematics
Automatic control
Computational Mathematics and Numerical Analysis
Computer networks
Control theory
Locomotion
Mathematics
Mathematics and Statistics
Modules
Original Paper
Parameters
Segments
Locomotion
34C15
93C10
Decentralized systems
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Summary:This study proposes a module designed for the automatic parameter control of peristaltic locomotion systems. The module comprises two populations of oscillators, each responsible for controlling the phase of periodic elongation–contraction motion and the friction force exerted by the ground, respectively. The parameter control algorithm operates independently in each module, with parameters updated through a selection algorithm applied to the elements in each module. Peristaltic locomotion systems, equipped with the proposed modules in the body segments, exhibit autonomous parameter controls, resulting in stable unidirectional locomotion. Consequently, the system can adapt to various environmental changes. Because the modules do not interact with each other, the system acts as a decentralized distributed system; thus, it is scalable to several body segments.
ISSN:0916-7005
1868-937X
DOI:10.1007/s13160-024-00653-7