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

• 批准号: 17360105
• 负责人: MATSUNO Fumitoshi
• 金额: $ 9.74万
• 依托单位: The University of Electro-Communications
• 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
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17360105/
• 关键词: Hyper-redundant Systems; Flexible Mechanical Systems; Dynamic based Control; Dynamics based Intelligence; Nonholonomic Constraint; Infinite dimensional systems; Learning Algorithm; Snake-like Robot; ダイナミクスペースト制御; ダイナミクスペースト・インテリジェンス; 可変拘束システム

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

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: 2006 SICE-ICASE International Joint Conference
• 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

• 发表时间: 2005
• 期刊: IEEE Transactions on Control Systems Technology Vol.13,No.6
• 作者: Kyung-Jinn Yang;Keum-Shik Hong;Fumitoshi Matsuno
• 通讯作者: Fumitoshi Matsuno

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

• 发表时间: 2006
• 期刊: 計測自動制御学会論文誌 42-6
• 作者: 佐藤博毅;田中基康;松野文俊
• 通讯作者: 松野文俊

Cooperative Control of Two Snake Robots

两个蛇形机器人的协同控制

• 发表时间: 2006
• 期刊: Proc. IEEE Int. Conf. on Robotics and Automation
• 作者: Motoyasu Tanaka;Fumitoshi Matsuno
• 通讯作者: Fumitoshi Matsuno

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

• 发表时间: 2005
• 期刊: IEEE Transactions on Control Systems Technology Vol.13・No.6
• 作者: Kyung-Jinn Yang;Keum-Shik Hong;Fumitoshi Matsuno
• 通讯作者: Fumitoshi Matsuno