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タイトル: 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
その他のタイトル: Behavioral Acquisition for Elastic Circular Robot by using Composite Behavior
著者: 米陀, 佳祐 著作を一覧する
鈴木, 育男 著作を一覧する
山本, 雅人 著作を一覧する
古川, 正志 著作を一覧する
キーワード: adaptive behavior
physical modeling
genetic algorithm
artificial neural network
elastic robot
発行日: 2011年
出版者: 公益社団法人 精密工学会
誌名: 精密工学会誌
巻: 77
号: 5
開始ページ: 476
終了ページ: 482
出版社 DOI: 10.2493/jjspe.77.476
抄録: 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.
資料タイプ: article
出現コレクション:雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

提供者: 山本 雅人


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