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

将非线性系统的“动态控制”概念推广到非完整的超冗余系统。提出了一种基于动态控制的超冗余系统强化学习算法。研究结果如下：1。具有非完整约束的超冗余系统动力学模型的推导。具有非完整约束的超冗余系统基于模型的控制律构造及控制律有效性的实验验证基于动力学的无限维系统控制律的构建及柔性机械系统控制律有效性的实验验证[j]。基于动态控制的超冗余系统强化学习算法设计[j]。通过一个冗余蛇形机器人的实验验证了所提出的强化学习方法的有效性

项目成果

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

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

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