Simple Reflex Controller for Decentralized Motor Coordination Based on Resonant Oscillation

Abstract

This article describes an extremely simple controller as a minimal example of decentralized motor coordination and gait generation. The control strategy is based on the stretch reflex in animals and requires no mutual communication or detailed body models. Despite such simplicity, each controller can sync itself and generate various resonant oscillation by only physical interaction through whole body dynamics. To evaluate this controller, we conduct some simulations with a linear spring-mass-damper system and a nonlinear legged robot model with multiple controllers. The former shows an adaptability to change in vibration frequency and the body parameter. In the latter, first we show a limitation of the proposed method due to the nonlinearity, and an alternative method is proposed. Finally, the simple controllers generate versatile gaits just by choosing a control parameter of "speeding up or down," and the gait generation can be explained by the controllers-body integration based on resonant oscillation.

Vibration‐based motion generation without any sensor or microprocessor

“…Because the oscillator adjusted its phase according to the reaction forces from the environment, a precise model and rigorous computation were not required. Motivated by this result, we previously proposed a simple controller [9] that autonomously synchronizes some entire mechanical systems to the natural vibration mode, which also only uses the surrounding force information. However, there is a limitation to implementing many decentralized controllers in general mechanical systems because each oscillator needs a sensor, a microprocessor, and some peripheral circuits.…”

Multi-Agent Systems for Resource Allocation and Scheduling in a Smart Grid

“…Open data platforms, for example, require a DSM that includes interactions across multiple build systems and loads, which must operate as a single, interconnected system for optimal performance. The MAS coordination system must be aware of all these systems and be able to exchange information between agents associated with the systems and devices [ 163 ].…”

“…Multi-agent systems may enhance building control and management as building function and tenant usage change over time. In addition, the authors [ 163 ] demonstrated that intelligent MAS control could save 20% more energy than traditional thermal management.…”

“…In [ 162 ], the authors made similar observations to [ 160 ] while highlighting the benefits of MAS. According to the authors [ 163 ], centralized systems outperformed MAS systems using the matched information set. Scalability, openness, and adaptability were mentioned as advantages of one MAS over the other.…”