Amoeba-inspired electronic computing system and its application to autonomous walking of a multi-legged robot

Kenta Saito, Naoki Suefuji, Seiya Kasai, Masashi Aono

Research output: Contribution to journalArticle

Abstract

An amoeba-inspired electronic computing system that searches a solution of a combinational optimization problem was developed. The computing system, called electronic amoeba, electronically represents the spatiotemporal dynamics of a single-celled amoeboid organism that is trying to maximize its food intake while minimizing the risks. We implemented the system using a conventional electronic circuit and successfully demonstrated its solution search capability for a Boolean satisfiability problem, SAT. The electronic amoeba was applied to autonomous walking of a four-legged robot without programming any leg maneuvers. The robot could walk to the target direction by successively searching a combination of the multi-valued leg joint states depending on the previous states and sensor information. We also confirmed that our approach arose the ability to travel over obstacles without prior information.

Original languageEnglish
Pages (from-to)1799-1814
Number of pages16
JournalIfCoLoG Journal of Logics and their Applications
Volume5
Issue number9
Publication statusPublished - 2018 Dec 1

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Legged Robots
Electronics
Robots
Robot programming
Computing
Boolean Satisfiability
Networks (circuits)
Satisfiability Problem
Sensors
Prior Information
Walk
Programming
Robot
Maximise
Optimization Problem
Sensor
Target

ASJC Scopus subject areas

  • Applied Mathematics
  • Logic

Cite this

Amoeba-inspired electronic computing system and its application to autonomous walking of a multi-legged robot. / Saito, Kenta; Suefuji, Naoki; Kasai, Seiya; Aono, Masashi.

In: IfCoLoG Journal of Logics and their Applications, Vol. 5, No. 9, 01.12.2018, p. 1799-1814.

Research output: Contribution to journalArticle

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