2A2-E02 ロボットの身体構造の変化に対する動作の逐次適応法

概要

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Robot motions are designed according to the property such as the structure of frame, number of joints and so on. Structural changes such as joint failure or frame distortion make designed motions unaccomplished. We propose motion adaptation method to accomplish the motions on changed structure without identification of structure changes and with less exploring cost. In this paper, we focus on the motions position control. Robot has database consisted on pairs of joint angles and expressed position, estimates joint angles expressing intended position by Kriging method based on the database. When the robot structure has changed, the robot motions are adapted to changed structure by estimation joint angles, observation of control point and modification of database. Experimental result shows that the possibility to adapt the robot motions to changed structure with less exploring cost.
一般社団法人日本機械学会の論文
2009-05-25