4S ファジィ制御ルールに基づくつり輪ロボットの演技(スポーツ工学シンポジウム2001)

概要

論文の詳細を見る
We have been focusing on the rings event that is one of men's apparatus gymnastics. The ring exercises have the characteristics that the apparatus can move in all directions freely, that is free-floating characteristics of gripping point. Realizing the robot that performs rings practically, we can expect a contribution to the gymnastic coaching. Therefore, we have already proposed the "rings gymnastic robot." Joint torque in performance is useful for the coaching and gymnasts can easily understand the skill to realize performance if the control method for the torque is represented as "if-then" rules. Consequently, we adopt fuzzy control as a control strategy for the rings gymnastic robot. In this paper, we acquire the performance skill described as fuzzy control rules to realize a backward giant circle, one of the compulsory requirements. The parameters of the rules are obtained by genetic algorithm, in which an evaluation method using subgroups with independent evaluation is applied. The effectiveness of the obtained skill is confirmed through three-dimensional animation of the robot based on the simulation results.
2001-11-07