著者

広瀬 茂男 梅谷 陽二

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.12, no.5, pp.543-547, 1976-10-30 (Released:2009-03-27)

参考文献数

8

被引用文献数

8 38

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A biomechanical study of living systems suggests us some interesting mechanisms which enable an organism to carry out specific functions. Among various organisms, the authors deal with the organism having a slender configuration and making active and flexible winding motions with muscles attached along the body. In spite of the simple shape, it performs miscellaneous functions which have never been realized in an artificial mechanism.The authors call this type of organism as Active Cord-Mechanism (abbreviated as ACM) and have been studying its motion, control and other problems associated with an engineering application.The basic locomotive motion of ACM on an even ground has already been realized in a snake-like shape.In this paper, some of the problems to develope this locomotive ACM into a more intelligent machine are discussed.First, the installation of tactile sensors is discussed and the biological principle of lateral inhibition is shown to be useful for controlling the ACM with tactile sensors.Second, the efficient and smooth controlling principle is proposed which the authors call the modified first order data hold.Finally, by the ACM mechanical model with tactile sensors and reconstructed controller, more intelligent locomotive experiments have been made, to demonstrate that the locomotion by detecting the obstacle in labyrinth, or the propulsion by pushing a fixed object have been successfully accomplished.Thus the authors believe that this study solves some of the controlling problems of locomotive ACM to develope as an intelligent machine.