文章基本信息

标题：Control of oscillator aggregation for emergence of homeostasis in autonomous systems
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作者：Sho Yamauchi ; Hidenori Kawamura ; Keiji Suzuki 等
期刊名称：人工知能学会論文誌
印刷版ISSN：1346-0714
电子版ISSN：1346-8030
出版年度：2015
卷号：30
期号：1
页码：1-11
DOI：10.1527/tjsai.30.1
出版社：The Japanese Society for Artificial Intelligence
摘要：The main feature that keeps states and structures stable can be seen in living organisms. This adjusting and adaptive feature is called homeostasis. This integrated adaptive feature is achieved by the cooperation of organs in living organisms. Living organisms in nature act dynamically due to this feature. Highly adaptive behavior caused by this feature is also observed in simple living organisms that have no neural circuits such as amoebas. In amoeba case, each cell acts as an oscillator and such behavior is explicable as synchronization phenomena of oscillators. Based on these facts, a method of control to generate homeostasis in robotic systems is proposed by assuming a robot system is an aggregation of oscillators in this paper. When a robot system is assumed as an aggregation of oscillators, a robot system tries to keep the value of the specific function that indicate its uncomfortable level small the whole time. To keep such function value small, a robot system stabilize the relationship between oscillators when its value is small and reconstruct the relationship between oscillators when its value is large. This behavior is also explicable as synchronization phenomena of oscillators. A redundant robot arm is made to confirm the effect of this control method to generate homeostatic behaviors in robotic systems.
关键词：oscillator ; synchronization ; homeostasis