TY - JOUR
T1 - Amoeba-inspired electronic computing system and its application to autonomous walking of a multi-legged robot
AU - Saito, Kenta
AU - Suefuji, Naoki
AU - Kasai, Seiya
AU - Aono, Masashi
N1 - Funding Information:
This work was partly supported by MEXT KAKENHI Grant Numbers JP25110001 and JP25110013, JSPS KAKENHI Grant Numbers JP16K14240 and JP18H01487.
Publisher Copyright:
© 2018, College Publications. All rights reserved.
PY - 2018/12
Y1 - 2018/12
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85071252065&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071252065&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:85071252065
SN - 2631-9810
VL - 5
SP - 1799
EP - 1814
JO - IfCoLoG Journal of Logics and their Applications
JF - IfCoLoG Journal of Logics and their Applications
IS - 9
ER -