Function Emergence of Softly Structured Group of Robots by Vibrating Potential Fields

振动势场软结构机器人群的功能涌现

• 批准号: 13650265
• 负责人: NARUSE Keitaro
• 金额: $ 0.96万
• 依托单位: HOKKAIDO UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650265/
• 关键词: Vibrating potential field; Softly structured group of robots; Agent system; Reinforcement learning; Evolutionary robotics; Human-machine system; Neural network; Non-linear oscillator; 柔構造群ロボット; 流体金属ロボット; 波動場通信; 機械学習; 柔構造型群ロボット; 自在変型機能; 移動ロボッ

For the purpose of the function emergence of softly structured group of robots by the vibrating potential fields, we have achieved the following five contributions.(1)Control of amoeba-robot as the soft structure group of robots : We have developed the control mechanism of components of the amoeba robots, by the local reinforcement learning, by the entrainment of non-linear oscillator, and by the rhythms generation in chaos neural networks. We have successfully controlled the robot.(2)Development of robots with behavior and morphology evolution : We have developed the evolutionary robotics system, in which the behavior and the morphology of robots are evolved simultaneously. We have showed that the evolution system can find good shape and action of the robot.(3)Behavior and morphology control of liquid metal robots : As an instance of the softly structure robots, we have developed the metal liquid robot, which can change its morphology freely. We have controlled the robot by controlling its Electro-magneto field.(4)Development of emotional agent group by filed interaction : As an instance of robots beyond the physical interaction, we have proposed the emotional agent, which is inspired from emotion dynamics of creatures. We have investigated the characteristics of artificial society of the agents.(5)Development of power-assist system : The power assist system involves a soft human and a rigid machine, which can be an instance of softly structured group of robots. We have developed the machine and control system for the machine such as collaborating with the human.

针对柔性结构机器人群体的振动势场功能涌现问题，我们取得了以下五个方面的贡献。（1）作为机器人软结构群的变形虫机器人的控制：通过局部强化学习、引入非线性振子和混沌神经网络中的节律产生，建立了变形虫机器人各部件的控制机制。我们成功地控制了机器人。（2）具有行为和形态进化的机器人的开发：我们开发了进化机器人系统，其中机器人的行为和形态同时进化。我们已经表明，进化系统可以找到良好的形状和行动的机器人。（3）液态金属机器人的行为和形态控制：作为软结构机器人的一个实例，我们研制了一种可以自由改变形态的液态金属机器人。我们通过控制机器人的电磁场来控制机器人。（4）通过现场交互开发情感智能体群体：作为机器人超越物理交互的一个实例，我们从生物的情感动力学中得到启发，提出了情感智能体。我们研究了智能体人工社会的特征。（5）助力系统的开发：助力系统涉及一个柔软的人和一个刚性的机器，它可以是一个软结构的机器人组的实例。我们已经开发了机器和控制系统的机器，如与人类合作。

项目成果

K.Naruse, S.Kawai, H.Yokoi, Y.Kakazu: "Design of Compact and lightweight wearable power assist device"2003 ASME International Mechanical Engineering Congress and R&D Expo. (CD-ROM). (2003)

K.Naruse、S.Kawai、H.Yokoi、Y.Kakazu：“紧凑型轻型可穿戴助力装置的设计”2003年ASME国际机械工程大会暨研究会

Y.Shigeta, H.Yokoi, Y.Kakazu: "A Study on Farmer Model Using the Variability Idiotype"Proc.of the 4th International Workshop on Emergent Synthesis. 63-68 (2002)

Y.Shigeta、H.Yokoi、Y.Kakazu：“利用变异独特型的农民模型研究”第四届国际紧急合成研讨会论文集。

W.Yu, H.Yokoi, Y.Kakazu: "Approach to amoeba-like robot"Journal of RSJ. vol.19, No.7. 43-49 (2001)

W.Yu，H.Yokoi，Y.Kakazu：“类阿米巴机器人的方法”RSJ 杂志。

W.Yu, H.Yokoi, Y.Kakazu: "A Study on State Grouping and opportunity Evaluation for Reinforcement Learning Methods(in Japanese)"Smart Engineering System Design. Vol.3. 29-49 (2001)

W.Yu，H.Yokoi，Y.Kakazu：“强化学习方法的状态分组和机会评估研究（日语）”智能工程系统设计。

N.Takahashi.W.Yu, H.Yokoi, Y.Kakazu: "Amoeba Like Multi-Cell Robot Control System-Obstacle Avoidance using Distributed pattern Generator"Proc.of The 8th Conference on Intelligent Autonomous System. (CD-ROM). (2004)

N.Takahashi.W.Yu，H.Yokoi，Y.Kakazu：“类阿米巴多细胞机器人控制系统-使用分布式模式生成器避障”第八届智能自治系统会议论文集。