Artificial Life VI


A Morpho-Functional Machine: An Artificial Amoeba Based on the Vibrating Potential Method

Hiroshi Yokoi
Complex Systems Eng. Graduate School of Engineering, Hokkaido University

Wenwei Yu
Complex Systems Eng. Graduate School of Engineering, Hokkaido University

Jun Hakura
Complex Systems Eng. Graduate School of Engineering, Hokkaido University

Yukinori Kakazu
Complex Systems Eng. Graduate School of Engineering, Hokkaido University


Abstract

How to design the flexible deformation of shape and the adaptive motion in m echanical system. This paper describes Morpho-Functional Machine that is amo eba like flexible deformable robotics system. The remarkable characteristic of amoeba is that transforms from unicellular period to multi-cellular perio d according to the state of environment. Such characteristics become one id ea for the difficulty of distributed autonomous robots system, such as envir onmental recognition, cooperative behaviors, and self-organized system contr ol. This paper proposes Vibrating Potential Method to control Morpho-Functio nal Machine, and applies to goal acquisition as an example of spatial search ing environment. The proposed model consists of new field technique named as the Vibrating Potential Field and new parameter tuning method inspired from thermodynamics. The field model derives self organizing gathering behaviors through physical interaction of potential fields. The computer simulation sh ows typical characteristics, gathering toward energy, thermotaxis, obstacle avoidance, such as swarm intelligence have been emerged. Those characteristi cs are designed and built as three types of robotics based physical system, so called as Morpho-Functional Machine. This paper shows the possibility of behaviors produced by Morpho-Functional Machine.


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