Oscillator aggregation wheeled robot actively synchronizing with external environment

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. In amoeba case, each cell acts as an oscillator and such behavior is explicable as synchronization phenomena of oscillators. 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. When a robot system is assumed as an aggregation of oscillators, a robot system tries to keep the value of the specific function that indicate its uncomfortable level small the whole time. To keep such function value small, a robot system stabilize the relationship between oscillators when its value is small and reconstruct the relationship between oscillators when its value is large. This behavior is also explicable as synchronization phenomena of oscillators. Wheeled robot with camera is applied this control method in this paper to confirm the effect of the method. Adaptive behavior is observed in the robot through the task to find the better position between the object.