A self organization approach to goal-directed multimodal locomotion based on attractor selection mechanism

Yongjae Kim; Surya Girinatha Nurzaman; Fumiya Iida; Edwardo F Fukushima

doi:10.1109/ICRA.2015.7139903

A self organization approach to goal-directed multimodal locomotion based on attractor selection mechanism

Yongjae Kim, Surya Girinatha Nurzaman, Fumiya Iida, Edwardo F Fukushima

Malaysia Sch of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

2 Citations (Scopus)

Abstract

The realization and utilization of multimodal locomotion to enable robots to accomplish useful tasks is a significantly challenging problem in robotics. Related to the challenge, it is crucial to notice that the locomotion dynamics of the robots is a result of interactions between a particular control structure and its body-environment dynamics. From this perspective, this paper presents a simple control structure known as Attractor Selection Mechanism that enables a robot to self organize its multiple locomotion modes for accomplishing a goal-directed locomotion task. Despite the simplicity, the approach enables the robot to automatically explore different body-environment dynamics and stabilize onto particular attractors which corresponds to locomotion modes relevant to accomplish the task. The robot used throughout the paper is a curved-beam hopping robot, which despite its simple actuation method, possesses rich and complex body-environment dynamics.

Original language	English
Title of host publication	Proceeding of the 2015 IEEE International Conference on Robotics and Automation (ICRA 2015)
Editors	Allison Okamura
Place of Publication	New Jersey USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	5061 - 5066
Number of pages	6
ISBN (Print)	9781479969241
DOIs	https://doi.org/10.1109/ICRA.2015.7139903
Publication status	Published - 2015
Event	IEEE International Conference on Robotics and Automation 2015 - Seattle, United States of America Duration: 26 May 2015 → 30 May 2015 http://ewh.ieee.org/soc/ras/conf/FullySponsored/ICRA/2015/icra2015.org/index.html https://ieeexplore.ieee.org/xpl/conhome/7128761/proceeding (Proceedings)

Conference

Conference	IEEE International Conference on Robotics and Automation 2015
Abbreviated title	ICRA 2015
Country/Territory	United States of America
City	Seattle
Period	26/05/15 → 30/05/15
Internet address	http://ewh.ieee.org/soc/ras/conf/FullySponsored/ICRA/2015/icra2015.org/index.html https://ieeexplore.ieee.org/xpl/conhome/7128761/proceeding (Proceedings)

Access to Document

10.1109/ICRA.2015.7139903

Cite this

Kim, Y., Nurzaman, S. G., Iida, F., & Fukushima, E. F. (2015). A self organization approach to goal-directed multimodal locomotion based on attractor selection mechanism. In A. Okamura (Ed.), Proceeding of the 2015 IEEE International Conference on Robotics and Automation (ICRA 2015) (pp. 5061 - 5066). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/ICRA.2015.7139903

Kim, Yongjae ; Nurzaman, Surya Girinatha ; Iida, Fumiya et al. / A self organization approach to goal-directed multimodal locomotion based on attractor selection mechanism. Proceeding of the 2015 IEEE International Conference on Robotics and Automation (ICRA 2015). editor / Allison Okamura. New Jersey USA : IEEE, Institute of Electrical and Electronics Engineers, 2015. pp. 5061 - 5066

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abstract = "The realization and utilization of multimodal locomotion to enable robots to accomplish useful tasks is a significantly challenging problem in robotics. Related to the challenge, it is crucial to notice that the locomotion dynamics of the robots is a result of interactions between a particular control structure and its body-environment dynamics. From this perspective, this paper presents a simple control structure known as Attractor Selection Mechanism that enables a robot to self organize its multiple locomotion modes for accomplishing a goal-directed locomotion task. Despite the simplicity, the approach enables the robot to automatically explore different body-environment dynamics and stabilize onto particular attractors which corresponds to locomotion modes relevant to accomplish the task. The robot used throughout the paper is a curved-beam hopping robot, which despite its simple actuation method, possesses rich and complex body-environment dynamics.",

author = "Yongjae Kim and Nurzaman, {Surya Girinatha} and Fumiya Iida and Fukushima, {Edwardo F}",

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note = "IEEE International Conference on Robotics and Automation 2015, ICRA 2015 ; Conference date: 26-05-2015 Through 30-05-2015",

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Kim, Y, Nurzaman, SG, Iida, F & Fukushima, EF 2015, A self organization approach to goal-directed multimodal locomotion based on attractor selection mechanism. in A Okamura (ed.), Proceeding of the 2015 IEEE International Conference on Robotics and Automation (ICRA 2015). IEEE, Institute of Electrical and Electronics Engineers, New Jersey USA, pp. 5061 - 5066, IEEE International Conference on Robotics and Automation 2015, Seattle, Washington, United States of America, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139903

A self organization approach to goal-directed multimodal locomotion based on attractor selection mechanism. / Kim, Yongjae; Nurzaman, Surya Girinatha; Iida, Fumiya et al.
Proceeding of the 2015 IEEE International Conference on Robotics and Automation (ICRA 2015). ed. / Allison Okamura. New Jersey USA: IEEE, Institute of Electrical and Electronics Engineers, 2015. p. 5061 - 5066.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AB - The realization and utilization of multimodal locomotion to enable robots to accomplish useful tasks is a significantly challenging problem in robotics. Related to the challenge, it is crucial to notice that the locomotion dynamics of the robots is a result of interactions between a particular control structure and its body-environment dynamics. From this perspective, this paper presents a simple control structure known as Attractor Selection Mechanism that enables a robot to self organize its multiple locomotion modes for accomplishing a goal-directed locomotion task. Despite the simplicity, the approach enables the robot to automatically explore different body-environment dynamics and stabilize onto particular attractors which corresponds to locomotion modes relevant to accomplish the task. The robot used throughout the paper is a curved-beam hopping robot, which despite its simple actuation method, possesses rich and complex body-environment dynamics.

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Kim Y, Nurzaman SG, Iida F, Fukushima EF. A self organization approach to goal-directed multimodal locomotion based on attractor selection mechanism. In Okamura A, editor, Proceeding of the 2015 IEEE International Conference on Robotics and Automation (ICRA 2015). New Jersey USA: IEEE, Institute of Electrical and Electronics Engineers. 2015. p. 5061 - 5066 doi: 10.1109/ICRA.2015.7139903