動力学的干渉を利用する運動知能の獲得:走行駆動力を持たない移動マニピュレータを用いた腕の運動による走行の実現

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In this research， we propose a concept of motion intelligence using a mobile manipulator which does not possess driving power. The motion intelligence is defined here as that the mobile manipulator can find by itself a way to use its dynamical coupling for a desired motion，that is here， travel1ing motion. We propose a strategy that a machine can maximize the effect of the dynamical coupling using static nonlinear friction between wheels and floor. The method proposed in this paper is composed of a way to give a mounted manipulator a sample motion using Fourier Series and an evaluation function used in Genetic Algorithm as a fitness function. We confirmed by real experiments that the mobile manipulator could find effective and best motion of l-link mounted manipulator which makes it
福井大学の論文