2A1-L08 関節故障や形状変化に適応可能な動作表現の姿勢記述法の提案(進化・学習とロボティクス)

概要

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Recently many robots have been developed. Robots' behaviors are described using their joint angles depended on their own architecture. So the behaviors that a certain robot has can't be accomplished on another architecture. In this paper, we propose posture description technique to inherit robots behaviors. Proposed technique describes robots' behaviors using position features that isn't depended on their architecture. When the architecture of the robot has changed such as joint failure, the robot can use their held behaviors according to remap new posture to corresponding previous position feature. Experimental results show the ability of the proposed technique to accede to robot behaviors between another joint range robots.
一般社団法人日本機械学会の論文
2007-05-11