@techreport{oai:ipsj.ixsq.nii.ac.jp:00033538,
 author = {高橋, 伸幸 and 横井, 浩史 and 嘉数, 侑昇 and Nobuyuki, Takahashi and Hiroshi, Yokoi and Yukinori, Kakazu},
 issue = {85(2000-MPS-031)},
 month = {Sep},
 note = {自由に変形し，柔軟で多様な行動生成する軟性は，まさに粘菌等の生物の特徴である．粘菌は同一の細胞の集合であり，特化した感覚，運動器官を持たないにもかかわらず，全体では統一された動きをする．本研究では，自己組織化モデルを採用することにより，複雑な運動パターンを少数の秩序パラメータによって制御できるようになる．本研究のマルチセルロボット制御系は，自己組織化モデルによって，セルユニットは局所的相互作用のみにもかかわらず，全体で統一された動きをすることが可能になる．特に，非線形振動子における引き込み等の自己組織化現象をモデル化し，計算機実験によりその有効性を示した．, Flexible deformation and actions are the features of a creature such as an amoeba. The amoeba consists of many homogeneous cells, and it does not have any specialized sensitive organs or motile organs, however, in the whole, the amoeba does unified movement. In this study, by applying the self-organization model, it is able to control complicated motion pattern by a small number of the order parameter. The multi-cell robot in this study is the aggregation of a homogeneous cell unit, and by the self-organization model, it becomes possible for the cell unit to move together in the whole, in spite of only using local interaction. Especially, the self-organization phenomena such as the entrainment in the non-liner oscillators was modeled, and by the computer experiment, the effectiveness was shown.},
 title = {自己組織化モデルを用いた軟性機械制御系},
 year = {2000}
}