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Hokkaido University Collection of Scholarly and Academic Papers >
Graduate School of Information Science and Technology / Faculty of Information Science and Technology >
Peer-reviewed Journal Articles, etc >
複合型ビヘイビアによる円環構造弾性ロボットの自律行動獲得
| Title: | 複合型ビヘイビアによる円環構造弾性ロボットの自律行動獲得 |
| Other Titles: | Behavioral Acquisition for Elastic Circular Robot by using Composite Behavior |
| Authors: | 米陀, 佳祐1 Browse this author | | 鈴木, 育男2 Browse this author →KAKEN DB | | 山本, 雅人3 Browse this author →KAKEN DB | | 古川, 正志4 Browse this author →KAKEN DB |
| Authors(alt): | YONEDA, Keisuke1 | | SUZUKI, Ikuo2 | | YAMAMOTO, Masahito3 | | FURUKAWA, Masashi4 |
| Keywords: | adaptive behavior | | physical modeling | | genetic algorithm | | artificial neural network | | elastic robot |
| Issue Date: | 2011 |
| Publisher: | 公益社団法人 精密工学会 |
| Journal Title: | 精密工学会誌 |
| Volume: | 77 |
| Issue: | 5 |
| Start Page: | 476 |
| End Page: | 482 |
| Publisher DOI: | 10.2493/jjspe.77.476 |
| Abstract: | A virtual elastic robot is proposed which has a body with multiple degrees of freedom. It is capable of fitting its body to the given surrounding environment. The intended robot is modeled by rigid objects connected by spring joints in a circular structure. Its control system manipulates spring actuators to realize elastic movements. This paper aims to acquire its control system for the robot to behave autonomously to adapt to various circumstances. A physical simulation is done to achieve given tasks for the elastic robot. The simulation result shows that the elastic robot achieve a simple locomotion task. Moreover, we conduct a learning experiment to adapt the robot to a complicated circumstance, in which an obstacle is put In order to allow the robot to adapt to there, we propose a composite behavior which consists of simple behaviors. The simulation results in forming a behavioral pattern of autonomous locomotion. |
| Type: | article |
| URI: | http://hdl.handle.net/2115/64598 |
| Appears in Collections: | 情報科学院・情報科学研究院 (Graduate School of Information Science and Technology / Faculty of Information Science and Technology) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)
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Submitter: 山本 雅人
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