1A1-M07 形態と知能の調和を考慮した進化ロボットシステムに関する研究 : 距離測定機能発現メカニズムの解明(進化・学習とロボティクス)

概要

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We clarify design principle, i.e., emergent mechanism of distance measurement function, by using evolutionary robotic system which designs morphology and intelligence autonomously. So far, we have shown the distance measurement function by contacting own body structure such as a tactile sensor in case of short range and by stereovision using sensor arrangement in case of middle range. However, the emergent function in case of long range is still unexplained. In nature, a predator measures long distance to a prey accurately by using the memory. Thus, we gave the robot with memory a task keeping distance to a target and investigated the emergent function in case of long range. As a result, we clarified following two design principle. In case of long range, the distance measurement function by using parallax between current and previous sensor conditions emerged. Furthermore, the long range task simplified the morphology and developed the intelligence using memory.
一般社団法人日本機械学会の論文
2011-05-26