{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T04:19:02Z","timestamp":1777522742774,"version":"3.51.4"},"reference-count":20,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2015,3,10]],"date-time":"2015-03-10T00:00:00Z","timestamp":1425945600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Adaptive Behavior"],"published-print":{"date-parts":[[2015,4]]},"abstract":"<jats:p>Autonomous decentralized control is a key concept for understanding the adaptive and versatile behaviors of living systems. To establish a design methodology for such a controller for robotic systems, we have proposed a fully decentralized control system, inspired by biochemical oscillators in true slime mold ( Physarum polycephalum), which allows a modular robot to exhibit adaptive and versatile behaviors. However, in real living systems, many adaptation mechanisms with different time constants co-exist without conflict in the body (e.g., reflex, learning, growth and evolution); this contributes to the amazingly resilient and intelligent behaviors of living systems. It is well known that in true slime mold, long time-scale morphological changes coexist with the oscillatory behavior stemming from biochemical oscillators. In the present study, we have designed a mathematical model and real physical robot in which two decentralized controllers are incorporated. Numerical and experimental results show that by combining the controllers with different time constants, a robot can use the proposed model to successfully negotiate a narrow aisle by deforming its body shape dynamically.<\/jats:p>","DOI":"10.1177\/1059712315573334","type":"journal-article","created":{"date-parts":[[2015,3,10]],"date-time":"2015-03-10T21:32:46Z","timestamp":1426023166000},"page":"109-121","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Enhancing adaptability of amoeboid robot by synergetically coupling two decentralized controllers inspired by true slime mold"],"prefix":"10.1177","volume":"23","author":[{"given":"Takuya","family":"Umedachi","sequence":"first","affiliation":[{"name":"Department of Biology, Tufts University, Medford, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shunya","family":"Horikiri","sequence":"additional","affiliation":[{"name":"Research Institute of Electrical Communication, Tohoku University, Sendai, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryo","family":"Kobayashi","sequence":"additional","affiliation":[{"name":"Department of Mathematical and Life Sciences, Hiroshima University, Higashi Hiroshima, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Akio","family":"Ishiguro","sequence":"additional","affiliation":[{"name":"Research Institute of Electrical Communication, Tohoku University, Sendai, 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