2A1-B11 可変弾性要素を介した制御系と機構系の有機的連関 : 2次元ヘビ型ロボットを用いた事例研究(移動知)

概要

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This study is intended to intensively discuss how control and mechanical systems should be coupled by taking a 2D serpentine robot consisting of multiple body segments as a case study. In order to realize "well-balanced" coupling between control and mechanical systems, we have investigated the role of multiarticular muscles, which specify the long-distance correlation between the body segments, in the generation of behavior. Preliminary simulation results indicate that a certain degree of long-distance correlation derived from the multiarticular muscles enhances the adaptability and the controllability without sophisticated sensory feedback mechanisms. We expect that this "embodied" intelligence allows us to significantly reduce the complexity of control systems.
一般社団法人日本機械学会の論文
2007-05-11