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Learning and Dynamic Control of Robot

机器人的学习与动态控制

基本信息

批准号：
10650426
负责人：
OKABE Yoichi
金额：
$ 2.56万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 1999
项目状态：
已结题

项目摘要

The real motion of creature is dynamic and hard to analyze. The purpose of this research is to make a robot acquire the motion by learning.We made several robots, and they acquire giant swing motion of horizontal bar, hopping motion by one leg, two-foot walking motion, and serpentine motion with four joints.(1). Giant Swing RobotGiant swing robot is a double-pendulum hanged on a horizontal bar. In this robot, there is a DC-motor at a joint between the pendulums, and are angle sensors at every joint. We tried to find the way to control the giant swing motion by changing the torque of DC-motor. We succeeded to execute the sequential giant swing motion, by using the control based on simple rule base.(2). Hopping RobotHopping robot has a leg that swings back and forth. The power, which swings the lag, is given by DC-motor. We tried to find the way to control the hopping motion by changing the torque of DC-motor, in the similar way of 1. We succeeded to execute the sequential hopping motion.(3). Two-foot RobotTwo-foot walking is a typical motion of human beings. We made a two-foot robot with four servomotors and tried to control the walking motion with neural oscillator networks. As a result, we succeeded to execute stabilized walking motion.(4). Four-joint RobotTo the next step, we made four-joint robot with four servomotors at every joint. We tried to let the robot get efficient serpentine motion by learning, using control system with neural oscillator networks. We succeeded to execute efficient serpentine motion by learning.For future works, we are thinking to make the hopping robot to achieve the hopping motion by learning.Moreover, as development of those researches, we are thinking to control hopping motion and two-feet walking motion by using neural network.

生物的真实的运动是动态的，难以分析。本研究的目的是使机器人通过学习来获得运动，我们制作了几个机器人，它们获得了单杠的巨大摆动运动、单腿跳跃运动、双脚行走运动和四关节蛇形运动。（一）.巨型摇摆机器人巨型摇摆机器人是一个挂在单杠上的双摆。在该机器人中，有一个直流电机在关节之间的两个关节，并在每个关节的角度传感器。我们试图找到通过改变直流电机的转矩来控制巨型秋千运动的方法。通过基于简单规则库的控制，成功地实现了连续的大幅度摆动动作。（二）、跳跃机器人跳跃机器人有一条来回摆动的腿。摆动滞后的功率由直流电机提供。我们尝试了通过改变直流电机的转矩来控制跳跃运动的方法。我们成功地完成了连续跳跃动作。（三）、双足机器人双足步行是人类的一种典型运动。我们做了一个两足机器人与四个伺服电机，并试图控制步行运动与神经振荡器网络。结果，我们成功地执行了稳定的步行运动。（四）、四关节机器人下一步，我们做了四关节机器人，每个关节有四个伺服电机。我们尝试让机器人获得有效的蛇形运动的学习，使用神经振荡器网络控制系统。通过学习，我们成功地实现了高效的蛇形运动。在今后的工作中，我们正在考虑使跳跃机器人通过学习来实现跳跃运动。此外，随着这些研究的发展，我们正在考虑使用神经网络来控制跳跃运动和双足步行运动。