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

• 劉 宏偉

  東京大学大学院新領域創成科学研究科 住商情報システム株式会社生産技術部

• 伊庭 斉志

  東京大学大学院新領域創成科学研究科

書誌事項

タイトル別名

• A Framework for Flexible Humanoid Robot Control Based on CBR augmented GP
• ヒューマノイドロボット ノ ジュウナン ナ セイギョ ノ タメ ノ GP ト CBR ノ トウゴウ

抄録

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.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 24 (1), 112-123, 2006

  一般社団法人 日本ロボット学会

キーワード

• Humanoid Robot
• Genetic Programming
• Case-based Reasoning
• Navigation
• Abstract Behavior
• Reality Gap

詳細情報

• CRID: 1390282679702465664
• NII論文ID: 10017172052
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.24.112
• ISSN: 18847145
• ISSN: 02891824
• ISSN: http://id.crossref.org/issn/02891824
• NDL書誌ID: 7798885
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7798885
• 本文言語コード: ja
• データソース種別:
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• 抄録ライセンスフラグ: 使用不可