2A1-J03 Application of Flocking Algorithm to Attitude Control of Humanoid Robot(Robotic Systems Based on Autonomous Decentralized Architecture)

摘要

Flocking algorithm of multi agent system is robust and disaster tolerant even though agents face obstacles or destructed. In this paper, we focus on applying these mechanism to single humanoid robot by assuming that the robot is the set of agents. We extend flocking algorithm to be capable of using in single robot and apply it to humanoid robot to maintain standing posture.