1A1-P04 物理モデリングによる犬モデルの自律行動 : 起き上がり動作と姿勢の安定化(進化・学習とロボティクス)

概要

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Many studies have been done on autonomous locomotion robots based on physics modeling. However, most of them concern on walking and swimming locomotion and there are few studies on a series of walking locomotion. In this study, we focus on a dog walking locomotion and on dog's standing up behavior, which is a starting behavior of walking. We applied GA and ANN to acquire the standing up behavior based on physics modeling and verified that a suitable behavior can be acquired through numerical experiments.
一般社団法人日本機械学会の論文
2011-05-26