Oscillator Aggregation in Redundant Robotic Systems for Emergence of Homeostasis

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. 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 and each parameter in a robot system is allocated to an oscillator. Such oscillators interact so that the whole system can adapt to the environment. Also, a redundant robot arm is made to confirm the effect of this control method to generate homeostatic behaviors in robotic systems.

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