315 自然・生き物・人の巧みさに学ぶ「ヒューマン・ロボット学」の提唱(G15-3 生物モデルロボット,G15 ロボティクス・メカトロニクス)

元データ 2006-09-15

概要

There is no robot around us in our society at the current stage and also there will be no robot in the future if we define a robot as an autonomous machine working in the arena of offices, homes, and disaster sites, etc. outside the factories and continue the present conventional research and development (R & D) style in robot projects. It seems that the emergence of intellectuality in an autonomous robot exists in the dexterity of human or creatures as complex systems. This paper proposed the research style and the development procedure along this approach for realization of a real intelligent robot. We call this Human-Robotics, where robots and engineers should learn and develop in collaboration with each other in the real world on the basis of the dexterity of nature, life and human. We realized the simple self-sustained humanlike robust walking & running NANBA of humanoid biped robot GENBE based on distributed control of physical body in a martial art utilizing instability without ZMP (Zero Moment Point) control, which uses only small active power with simple chaotic limit cycle utilizing instability, further developing into autonomous walking & running. Instability makes the natural movement. We also investigated the approach to the emergence of the intelligence of an autonomous robot for breaking through the problems of the conventional intelligent robot with SMPA (Sense-Model- Plan- Act) framework in the real world. It is based on the development of human's dexterity or proficient skills with Subsumption Architecture (SA) by learning in the real world.

著者

川副 嘉彦 埼玉工業大学工学部
川副 嘉彦 埼玉工大

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