ブラキエーション形移動ロボットの研究　第７報　　階層形行動制御における行動学習

• 長谷川 泰久

• 伊藤 芳邦

• 福田 敏男

書誌事項

タイトル別名

• A Study of the Brachiation Type of Mobile Robot. 7th Report. Behavior Learning for Hierarchical Behavior-based Controller.
• ブラキエーションケイ イドウ ロボット ノ ケンキュウ ダイ7ホウ カイソウガタ コウドウ セイギョ ニ オケル コウドウ ガクシュウ

抄録

This paper introduces a brachiation type locomotion robot with 13D. O. F. and proposes a learning algorithm for a hierarchical behavior based controller. The brachiation type locomotion robot "Brachiator III" has similar mechanism and dimensions to a long-armed ape, which can perform dexterous motion using a redundant mechanism. A hierarchical behavior-based approach is useful to design a controller for a dynamical motion with multi-degree of freedoms. However some difficulties remain in adaptation phase when the objective behavior or environment conditions are changed. We propose a novel algorithm to improve a global behavior against these changes using Newton Raphson method. This algorithm measures the effects of local behavior controllers to the global behavior as a gradient information, and changes the amplitude of each behavior controller in fewer trials. This learning algorithm is applied to the brachiation robot control.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 67 (662), 3204-3211, 2001

  一般社団法人 日本機械学会

キーワード

• Brachiation Robot
• Behavior-Based Control
• Motion Learning
• Real-Time Tracking System
• Newton-Raphoson Method

詳細情報

• CRID: 1390282681333380096
• NII論文ID: 110002550799
• NII論文ID: 130004234265
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.67.3204
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 5952854
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5952854
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/67/662/67_662_3204/_pdf
• 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