イベント駆動型制御とその表現 -動的環境下における多自由度ロボットの運動学習を目指して-  [in Japanese] Event-driven control and its representation -towards a motion learning of multi-DOF robot in dynamic environment-  [in Japanese]

Access this Article

Search this Article

Author(s)

Abstract

砂地やトランポリンといった動的環境下における多自由度ロボットの運動制御は困難な課題である。運動学習によるアプローチを取る場合であっても、ロボットの運動によって環境の状態が変動するため、参照軌道によって運動を記述することは現実的でない。そこで本研究では、環境との接触といった身体の力学的拘束条件の変化と、局所的な制御信号との時間関係に基づいて、定性的な運動の知識を表現し、学習によって定量的な運動制御パラメータを求める枠組を提案する。トランポリン上での跳躍運動をタスクとして、シミュレーションにより手法の有効性を検証した。Motion acquisition of multi-degree-of-freedom (multi-DOF) robot in dynamic environment, such as sandy soil and trampoline, is very difficult. Even in approaching with motion learning, it is not effective to describe the motion by reference trajectory since the state of the environment is changed by the action of the robot. In this paper, we suggest a new framework of motion learning: representing qualitative knowledge of human with the temporal relation between local control signal and the changing of dynamical constraint of the body, such as landing or taking off, then learning quantitative control parameters. We take simulations of hopping task on a trampoline to verify our methods.

Motion acquisition of multi-degree-of-freedom (multi-DOF) robot in dynamic environment, such as sandy soil and trampoline, is very difficult. Even in approaching with motion learning, it is not effective to describe the motion by reference trajectory since the state of the environment is changed by the action of the robot. In this paper, we suggest a new framework of motion learning: representing qualitative knowledge of human with the temporal relation between local control signal and the changing of dynamical constraint of the body, such as landing or taking off, then learning quantitative control parameters. We take simulations of hopping task on a trampoline to verify our methods.

Journal

  • IPSJ SIG Notes. CVIM

    IPSJ SIG Notes. CVIM 2006(51(2006-CVIM-154)), 159-166, 2006-05-18

    Information Processing Society of Japan (IPSJ)

References:  10

Codes

  • NII Article ID (NAID)
    110004820647
  • NII NACSIS-CAT ID (NCID)
    AA11131797
  • Text Lang
    JPN
  • Article Type
    Technical Report
  • ISSN
    09196072
  • NDL Article ID
    7936208
  • NDL Source Classification
    ZM13(科学技術--科学技術一般--データ処理・計算機)
  • NDL Call No.
    Z14-1121
  • Data Source
    CJP  NDL  NII-ELS  IPSJ 
Page Top