ヒューマノイドロボットの柔軟な制御のためのGPとCBRの統合  [in Japanese] A Framework for Flexible Humanoid Robot Control Based on CBR augmented GP  [in Japanese]

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Author(s)

    • 劉 宏偉 LIU Hongwei
    • 東京大学大学院新領域創成科学研究科 The Graduate School of Frontier Science, The University of Tokyo
    • 伊庭 斉志 IBA Hitoshi
    • 東京大学大学院新領域創成科学研究科 The Graduate School of Frontier Science, The University of Tokyo

Abstract

Humanoid robots are high-dimensional systems; thus it is very difficult for Genetic Programming (GP) to evolve control programs for humanoid robots. In this paper, we propose a framework for GP to generate control programs for humanoid robots. The key idea in our approach is to represent target task with abstract behaviors by Genetic Programming in simplified simulation and get a prototype of the control program then interpret it with Case-Based Reasoning (CBR) in the real world environments. Accordingly, our proposed approach consists of two stages: the evolution stage and the adaptation stage. In the first stage, the prototype of the control program is evolved based on abstract behaviors in a highly simplified simulation. In the second stage, the best control program is applied to a physical robot thereby adapting it to the real world environments by using CBR. Experimental results show that our approach can generate robust control programs that can easily overcome reality gap. We declare that this approach provides a general layered framework for generating control programs for complex systems with GP.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 24(1), 112-123, 2006-01-15

    The Robotics Society of Japan

References:  35

Codes

  • NII Article ID (NAID)
    10017172052
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    02891824
  • NDL Article ID
    7798885
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  NDL  J-STAGE 
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