多型的なＣＰＧ回路モデルによる２脚ロボットの実時間行動遷移

• 藤井 亮暢

  株式会社豊田中央研究所

• 石黒 章夫

  名古屋大学大学院

• Hotz Peter Eggenberger

  University of Zurich

書誌事項

タイトル別名

• Real-Time Action Selection of a Biped Robot using Polymorphic CPG Circuits
• タケイテキ ナ CPG カイロ モデル ニ ヨル 2キャク ロボット ノ ジツジカン コウドウ センイ

抄録

In order to create agile locomotion for legged robots, so far various methods have been proposed with the concept of neural circuits, or so-called Central Pattern Generator (CPG) . In contrast to these approaches in which monolithic CPG neural circuits are employed to control locomotion, this paper focus on a polymorphic CPG neural circuit. This allows us to dynamically change the properties of CPG circuit according to the current situation in real-time. To this aim, the concept of neuromodulation mechanism is introduced to modulate a CPG circuit. To verify the feasibility of this approach, this concept is applied to the control of a 3-D biped robot which is intrinsically unstable. In order to explore the parameters of the CPG circuit with a neuromodulation mechanism, an evolutionary algorithm is employed in this study. Simulation results show that the neuromodulation mechanism dynamically changes synaptic weights of the CPG circuit. This synaptic change leads to creating different behaviors, such as walking behavior and stepping behavior, from the same circuit.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 22 (4), 478-484, 2004

  一般社団法人 日本ロボット学会

キーワード

• Action Selection
• Neuromodulation
• CPG (Central Pattern Generator)
• Artificial Evolution
• Biped Robot

詳細情報

• CRID: 1390001204725633024
• NII論文ID: 10012928357
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.22.478
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 6950362
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6950362
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可