What Are Key Mechanisms for Adaptive Wall-Bouncing Control?
What Are Key Mechanisms for Adaptive Wall-Bouncing Control?
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自适应墙弹跳控制的关键机制是什么？
DOI：
10.1109/robio.2004.1521905
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
F. Miyazaki
中科院分区：
文献类型：
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作者：
Hiroaki Hirai;F. Miyazaki
本文描述了一个杂耍般的任务，涉及感觉运动协调的节奏运动生成的架构。我们的方法，这被解释为一个“双向弱耦合”的环境，不需要持续监测环境，但可以适应机器人的环境变化，由于在球接触的机器人和环境之间的相互作用。所提出的架构包括三个机制，这是“夹带机制”，“离散反馈机制”，和“开环稳定机制”。这些不同机制的共存和冗余保证了系统在扰动后的快速恢复，以及整个系统的强稳定性
This paper describes the architecture for rhythmic movement generation suited to a juggling-like task involving sensory-motor coordination. Our approach, which is interpreted as a "bidirectional weak coupling" to the environment, does not require continuously monitoring the environment, but can adapt a robot to the change of the environment, owing to the interaction between the robot and the environment at the ball contact. The proposed architecture consists of three mechanisms, which are the "entrainment mechanism," the "discrete feedback mechanism", and the "open loop stable mechanism". Coexistence and redundancy of these different mechanisms guarantee a faster recovery after a disturbance, and a strong stability of the whole system