How Should Control and Body Systems Be Coupled? A Robotic Case Study
How Should Control and Body Systems Be Coupled? A Robotic Case Study
复制标题
控制系统和车身系统应该如何耦合？
DOI：
10.1007/978-3-540-27833-7_8
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
T. Kawakatsu
中科院分区：
文献类型：
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作者：
A. Ishiguro;T. Kawakatsu
在过去的十年中，人们已经广泛认识到，智能的出现不仅受到控制系统的强烈影响，而且还受到其体现的强烈影响，即机器人身体的物理特性。这意味着控制动力学和其主体动力学不能被“分开”设计，因为它们紧密地相互依赖，这与传统的基于“硬件第一，软件最后”的设计方法有很大的不同。现在，出现了一些问题：这两种动态应该如何耦合？在所谓“均衡”的设计下，会出现甚么现象呢？尽管它的重要性，据我们所知，仍然很少有研究明确调查这种相互作用。鉴于此，本研究旨在探讨控制系统与机械系统之间的相互作用动力学，并分析与综合地讨论两者之间的“应然关系”。为此，以多足机器人的分散控制为例。推导的结果表明，分散步态控制的收敛性可以显着改善通过修改其控制和机械系统之间的相互作用的动力学来实现。
Over the past decade, it has been widely recognized that the emergence of intelligence is strongly influenced by not only control systems but also their embodiments, that is the physical properties of robots' bodies. This implies that the control dynamics and its body dynamics cannot be designed "separately" due to their tight interdependency, which is significantly different from the traditional design approach on a "hardware first, software last" basis. Now, some questions arise: how should these two dynamics be coupled? What sort of phenomena will emerge under the so-called "well-balanced" design? In spite of its importance, to our knowledge, still very few studies have explicitly investigated this mutual interaction. In light of these facts, this study is intended to deal with the interaction dynamics between control and mechanical systems, and to analytically and synthetically discuss the "relationship as it should be" between the two dynamics. To this end, a decentralized control for a multi-legged robot is employed as a practical example. The result derived indicates that the convergence of decentralized gait control can be significantly ameliorated by modifying its interaction dynamics between the control and mechanical systems to be implemented.