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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
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
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)

Submitter: 山本 雅人

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