A Gait Acquisition of 6-Legged Walking Robot Using Immune Networks.

Abstract

Recently, a strong demands of developing autonomous decentralized system has been arisen since systems have been increasing in their scale and complexity. On the other hand, biological systems can be said the ultimate decentralized systems, and are expected to provide feasible ideas to engineering fields . Among them immune systems work as on-line fault diagnosis systems by constructing self-nonself recognition networks . In this study, we try to apply this immunological self-nonself recognition networks to a gait acquisition of a 6-legged walking robot as a practical example.