ニューラルネットワークによる4脚歩行ロボットの障害物回避行動を伴う目的地経路の獲得(機械力学,計測,自動制御)

概要

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In the obstacle avoidance of a legged type robot, it is not necessary to avoid all of obstacles by only turning, because it can get over or stride some of them, depending on the obstacle configuration and the state of the robot, unlike a wheel type or a crawler type robot. It is thought that the mobility efficiency to the destination is improved by getting-over or striding. In this paper, a neural network (NN) is used to determine the action of a quadruped robot in the obstacle avoidance path by using information on the destination, the obstacle configuration, and the robot's self-state. The design parameters of NN are adjusted by genetic algorithm (GA) offline. The effectiveness of the present method is proved through an actual experiment.
社団法人日本機械学会の論文
2003-11-25