316 「ヒューマン・ロボット学」事例研究 : 移動ロボットと二足歩行ロボットの包摂構造化(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)

概要

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We proposed in the previous paper the concept of 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 showed in this paper as the case studies 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 showed the case study of an autonomous robot without SMPA (Sense- Model- Plan- Act) framework. It is based on the development of human's dexterity or proficient skills with Subsumption Architecture (SA) by learning in the real world.
2006-09-15