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Paper Abstract and Keywords
Presentation 2025-05-30 15:05
Study on Ground Condition Perception Based on Artificial Kinesthetic Sensory in An Amoeba-inspired Autonomous Walking Robot
Hyoto Yamaguchi, Kazuki Matsuda, Seiya Kasai (Hokkaido Univ.) ED2025-5 CPM2025-5 SDM2025-19
Abstract (in Japanese) (See Japanese page) 
(in English) An important issue for the autonomous robot operating in the high risk environment is to generate appropriate behavior on-site in unknown condition. We have developed an autonomous walking robot that can go over obstacles by successive searching for a gait using an amoeba-inspired optimization computer. However, the locomotion efficiency on the flat ground is low in this robot, because it searches for a walking gait step by step regardless the ground condition; the robot needs to obtain and execute walking behaviors depending on the ground condition. In this paper, we investigate artificial implementation of kinesthetic sensory for the four-legged walking robot, which makes it possible to recognize the ground condition without visual information.
Keyword (in Japanese) (See Japanese page) 
(in English) Autonomous walking robot / Amoeba-inspired solution search / Four-legged robot / Reservoir computing / / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 42, ED2025-5, pp. 17-20, May 2025.
Paper # ED2025-5 
Date of Issue 2025-05-23 (ED, CPM, SDM) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF ED2025-5 CPM2025-5 SDM2025-19

Conference Information
Committee SDM ED CPM  
Conference Date 2025-05-30 - 2025-05-30 
Place (in Japanese) (See Japanese page) 
Place (in English) Shizuoka Univ. (Hamamatsu) 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Materials, fabrication, and characterization of functional devices 
Paper Information
Registration To ED 
Conference Code 2025-05-SDM-ED-CPM 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Study on Ground Condition Perception Based on Artificial Kinesthetic Sensory in An Amoeba-inspired Autonomous Walking Robot 
Sub Title (in English)  
Keyword(1) Autonomous walking robot  
Keyword(2) Amoeba-inspired solution search  
Keyword(3) Four-legged robot  
Keyword(4) Reservoir computing  
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1st Author's Name Hyoto Yamaguchi  
1st Author's Affiliation Hokkaido University (Hokkaido Univ.)
2nd Author's Name Kazuki Matsuda  
2nd Author's Affiliation Hokkaido University (Hokkaido Univ.)
3rd Author's Name Seiya Kasai  
3rd Author's Affiliation Hokkaido University (Hokkaido Univ.)
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Speaker Author-1 
Date Time 2025-05-30 15:05:00 
Presentation Time 25 minutes 
Registration for ED 
Paper # ED2025-5, CPM2025-5, SDM2025-19 
Volume (vol) vol.125 
Number (no) no.42(ED), no.43(CPM), no.44(SDM) 
Page pp.17-20 
#Pages 4 
Date of Issue 2025-05-23 (ED, CPM, SDM) 

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