Control of Mechanical System with Knowledge Data Base

在本研究中，对两种机械系统进行了处理。主要研究成果如下：(1)构建了智能移动机械系统--四足机器人。他们自主行走。在步行运动中，参数很多，判断一个好的步行模式的标准函数是未知的。我们对实际动物(主要是狗)的行走动作进行了详细的调查和分析。研究发现，能量消耗是影响步行运动的重要参数之一。步态(哪条腿以什么顺序摆动)、占空比(腿在一个行走周期中接触地板的时间比率)和其他参数由最大限度地减少能量消耗的标准决定。通过对实际动物的调查结果与模型的动力学分析结果的比较，得出了这一结论。通过利用这些知识的控制算法，四足机器人在稳定的状态下非常平稳地行走。(2)智能机器人软件--我们成功地构建了具有问题解决能力和学习能力的机器人。问题解决意味着行动计划和行动的执行。学习意味着获得解决问题所需的知识。在现实世界中工作的机器人有两个问题。它们是行动结果的不确定性和对工作对象和环境知识的缺乏。要克服这些问题，要求学生具备解决问题的能力和学习的能力。本研究将这两种能力放在一起进行研究。这一结果在国际上得到了高度评价。

In this research, two kinds of mechanical system have been treated. The results are described in the following.(1) Intelligent Mobile Mechanical System-The quadruped robots were constructed. They walked autonomously. In walking motion, there are so many parameters and the criteria function for deciding a good walking pattern is not known. We investigated and analyzed the walking motion of actual animals ( dogs were mainly investigated ) in detail. It was found that energy consumption is one of very important parameters for walking motion. Gait ( which legs swing in which order ), duty factor ( ratio of the time the leg is contacting the floor over one cycle of walk ) and other parameters are decided by the criteria to minimize the energy consumption. This was concluded by comparison of investigating results of actual animals and results of dynamic analysis of the model. By control algorithm using this knowledge, the quadrupeds walked very smoothly in stable state.(2) Software for Intelligent Robot-We succeeded in constructing the robot having problem solving ability and learning ability. Problem solving means planning of action and execution of it. Learning means obtaining of necessary knowledges for problem solving. Robots which work in the real world have two problems. They are uncertainty of the result of action and lack of knowledge about working objects and environment. To conquer these problem, ability of problem solving and ability of learning requested. In this research, these two abilities were studied together. The results have been highly evaluated internationally.