Study on Dynamics based Intelligence of Hyper-redundant Mechanical Systems with Variable Constraints

变约束超冗余机械系统动力学智能研究

基本信息

  • 批准号:
    17360105
  • 负责人:
  • 金额:
    $ 9.74万
  • 依托单位:
  • 依托单位国家:
    日本
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)
  • 财政年份:
    2005
  • 资助国家:
    日本
  • 起止时间:
    2005 至 2007
  • 项目状态:
    已结题

项目摘要

We have extended the concept of "Dynamic based Control" of the nonlinear system to the nonholonomic hyperredundant systems. We have proposed the reinforcement learning algorithm for the hyperredundant systems based on the dynamics based control.The results obtained in the research are as follows:1. Derivation of dynamic model of hyperredundant systems with nonholonomic constraints2. Construction of model based control law for hyperredundant systems with nonholonomic constraints and experimental demonstration of effectiveness of the proposed control law3. Construction of dynamics based control law for infinite dimensional systems and experimental demonstration of effectiveness of the proposed control law for flexible mechanical systems4. Design of the reinforcement learning algorithm for the hyperredundant systems based on the dynamics based control5. Experimental demonstration of effectiveness of the proposed reinforcement learning method by using a redundant snake-like robot
我们将非线性系统的“基于动力学的控制”的概念推广到非完整超冗余度系统。提出了基于动力学控制的超冗余度系统的强化学习算法,研究结果如下:1.推导了具有非完整约束的超冗余度系统动力学模型。具有非完整约束的超冗余度系统基于模型的控制律的构造和所提出的控制律的有效性的实验证明。基于动力学的无限维系统控制律的构造和柔性机械系统控制律有效性的实验论证。基于动力学控制的超余度系统强化学习算法设计5。以冗余度蛇形机器人为例验证了强化学习方法的有效性

项目成果

期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Constrained Model Predictive Control: Applications to Multi-Vehicle Formation and an Autonomous Blimp
  • DOI:
    10.1109/sice.2006.315039
  • 发表时间:
    2006-10
  • 期刊:
  • 影响因子:
    0
  • 作者:
    H. Fukushima;K. Kon;F. Matsuno;Y. Hada;K. Kawabata;H. Asama
  • 通讯作者:
    H. Fukushima;K. Kon;F. Matsuno;Y. Hada;K. Kawabata;H. Asama
Energy-Based Control of Translating Beams : Varying Tension, Varying Speed, and Disturbance Adaptation
基于能量的平移梁控制:变化张力、变化速度和干扰适应
動力学モデルに基づく蛇型ロボットの軌道追従制御
基于动力学模型的蛇形机器人轨迹跟踪控制
Cooperative Control of Two Snake Robots
两个蛇形机器人的协同控制
Energy-Based Control of Translating Beams : Varying Tension, Varying Speed, nad Disturbance Adaptation
基于能量的平移梁控制:变化张力、变化速度、以及干扰适应
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MATSUNO Fumitoshi其他文献

MATSUNO Fumitoshi的其他文献

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{{ truncateString('MATSUNO Fumitoshi', 18)}}的其他基金

Understanding of Behavioral Principle of Social Insects based on Mathematical Model and A New Approach of Computational Behavioral Ecology
基于数学模型和计算行为生态学新方法理解社会性昆虫的行为原理
  • 批准号:
    23656169
  • 财政年份:
    2011
  • 资助金额:
    $ 9.74万
  • 项目类别:
    Grant-in-Aid for Challenging Exploratory Research
Study on dynamics based control and swarm intelligence for redundant mechanical systems with switching functions
具有切换功能的冗余机械系统的动力学控制和群体智能研究
  • 批准号:
    20360107
  • 财政年份:
    2008
  • 资助金额:
    $ 9.74万
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)
Dynamics based control of flexible multi-body systems and hyper-redundant systems with nonholonomic coustrant
柔性多体系统和非完整共力超冗余系统的基于动力学的控制
  • 批准号:
    14550210
  • 财政年份:
    2002
  • 资助金额:
    $ 9.74万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Dynamics based control of flexible multi-body system with geometric constraint based on distributed parameter
基于分布参数的几何约束柔性多体系统动力学控制
  • 批准号:
    11650243
  • 财政年份:
    1999
  • 资助金额:
    $ 9.74万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Modelng and Controller Design for Teleoperation of Master-Slowe Flexible Arms
Master-Slowe柔性臂遥控建模与控制器设计
  • 批准号:
    09650266
  • 财政年份:
    1997
  • 资助金额:
    $ 9.74万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)

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结构灵活的机械系统中的控制和能量收集问题
  • 批准号:
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  • 财政年份:
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  • 资助金额:
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  • 项目类别:
    Discovery Grants Program - Individual
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结构灵活的机械系统中的控制和能量收集问题
  • 批准号:
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  • 财政年份:
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结构灵活的机械系统中的控制和能量收集问题
  • 批准号:
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  • 财政年份:
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结构灵活的机械系统中的控制和能量收集问题
  • 批准号:
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结构灵活的机械系统中的控制和能量收集问题
  • 批准号:
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柔性机械系统分析与设计
  • 批准号:
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  • 财政年份:
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Analysis and design of flexible mechanical systems
柔性机械系统分析与设计
  • 批准号:
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  • 财政年份:
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CISM-Kurs "Advances in Modeling and Control of Flexible Mechanical Systems" (12.-16.06.2006 in Udine/Italien)
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  • 财政年份:
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  • 项目类别:
    Research Grants
Analysis and design of flexible mechanical systems
柔性机械系统分析与设计
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    5973-2003
  • 财政年份:
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    $ 9.74万
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    Discovery Grants Program - Individual
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柔性机械系统分析与设计
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  • 项目类别:
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