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

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

    Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

    2 Citations (Scopus)


    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 languageEnglish
    Title of host publicationProceeding of the 2015 IEEE International Conference on Robotics and Automation (ICRA 2015)
    EditorsAllison Okamura
    Place of PublicationNew Jersey USA
    PublisherIEEE, Institute of Electrical and Electronics Engineers
    Pages5061 - 5066
    Number of pages6
    ISBN (Print)9781479969241
    Publication statusPublished - 2015
    EventIEEE International Conference on Robotics and Automation 2015 - Seattle, United States of America
    Duration: 26 May 201530 May 2015
    https://ieeexplore.ieee.org/xpl/conhome/7128761/proceeding (Proceedings)


    ConferenceIEEE International Conference on Robotics and Automation 2015
    Abbreviated titleICRA 2015
    CountryUnited States of America
    Internet address

    Cite this