Function Emergence of Softly Structured Group of Robots by Vibrating Potential Fields

振动势场软结构机器人群的功能涌现

• 批准号: 13650265
• 负责人: NARUSE Keitaro
• 金额: $ 0.96万
• 依托单位: HOKKAIDO UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650265/
• 关键词: Vibrating potential field; Softly structured group of robots; Agent system; Reinforcement learning; Evolutionary robotics; Human-machine system; Neural network; Non-linear oscillator; 柔構造群ロボット; 流体金属ロボット; 波動場通信; 機械学習; 柔構造型群ロボット; 自在変型機能; 移動ロボッ

For the purpose of the function emergence of softly structured group of robots by the vibrating potential fields, we have achieved the following five contributions.(1)Control of amoeba-robot as the soft structure group of robots : We have developed the control mechanism of components of the amoeba robots, by the local reinforcement learning, by the entrainment of non-linear oscillator, and by the rhythms generation in chaos neural networks. We have successfully controlled the robot.(2)Development of robots with behavior and morphology evolution : We have developed the evolutionary robotics system, in which the behavior and the morphology of robots are evolved simultaneously. We have showed that the evolution system can find good shape and action of the robot.(3)Behavior and morphology control of liquid metal robots : As an instance of the softly structure robots, we have developed the metal liquid robot, which can change its morphology freely. We have controlled the robot by controlling its Electro-magneto field.(4)Development of emotional agent group by filed interaction : As an instance of robots beyond the physical interaction, we have proposed the emotional agent, which is inspired from emotion dynamics of creatures. We have investigated the characteristics of artificial society of the agents.(5)Development of power-assist system : The power assist system involves a soft human and a rigid machine, which can be an instance of softly structured group of robots. We have developed the machine and control system for the machine such as collaborating with the human.

为了通过振动势场的柔和结构化机器人的功能出现，我们实现了以下五个贡献。（1）将Amoeba-Robot作为机器人软结构组控制：我们已经开发了控制机制通过本地强化学习，非线性振荡器的夹带以及混乱神经网络中的节奏产生，Amoeba机器人的组成部分。我们已经成功控制了机器人。（2）具有行为和形态演化的机器人的开发：我们开发了进化机器人系统，其中机器人的行为和形态同时进化。我们已经表明，进化系统可以找到机器人的良好形状和动作。（3）液态金属机器人的行为和形态控制：作为软性机器人的一个实例，我们开发了金属液体机器人，可以改变其液体机器人形态自由。我们通过控制其电磁力领域来控制机器人。（4）通过提交互动来开发情感代理人组：作为超出物理互动以外的机器人的一个实例，我们提出了情感剂，这是从生物的情感动态中启发的。 。我们已经调查了代理商人工学会的特征。（5）功率辅助系统的开发：功率辅助系统涉及软机器和刚性机器，这可以是软体动物柔和的机器人组的一个实例。我们已经为机器开发了机器和控制系统，例如与人类合作。

项目成果

Y.Shigeta, H.Yokoi, Y.Kakazu: "A Study on Farmer Model Using the Variability Idiotype"Proc.of the 4th International Workshop on Emergent Synthesis. 63-68 (2002)

Y.Shigeta、H.Yokoi、Y.Kakazu：“利用变异独特型的农民模型研究”第四届国际紧急合成研讨会论文集。

N.Takahashi.W.Yu, H.Yokoi, Y.Kakazu: "Amoeba Like Multi-Cell Robot Control System-Obstacle Avoidance using Distributed pattern Generator"Proc.of The 8th Conference on Intelligent Autonomous System. (CD-ROM). (2004)

N.Takahashi.W.Yu，H.Yokoi，Y.Kakazu：“类阿米巴多细胞机器人控制系统-使用分布式模式生成器避障”第八届智能自治系统会议论文集。

I.Suzuki, M.Fujii, K.Naruse.H.Yokoi, Y.Kakazu: "Adaptive control System for SMA-Net Robot with Chaotic Neural Networks"Proc.of The 8th Conference on Intelligent Autonomous System. (CD-ROM). (2004)

I.Suzuki、M.Fujii、K.Naruse.H.Yokoi、Y.Kakazu：“具有混沌神经网络的 SMA-Net 机器人自适应控制系统”第八届智能自治系统会议论文集。

K.Naruse, S.Kawai, H.Yokoi, Y.Kakazu: "Design of Compact and lightweight wearable power assist device"2003 ASME International Mechanical Engineering Congress and R&D Expo. (CD-ROM). (2003)

K.Naruse、S.Kawai、H.Yokoi、Y.Kakazu：“紧凑型轻型可穿戴助力装置的设计”2003年ASME国际机械工程大会暨研究会

K.Naruse, M.Kinoshita, H.Yokoi, Y.Kakazu: "Group Formation of Agents with Two-dimensional Inner State and One-to-one Subjective Evaluation"IEEE International Conference on Computational Intelligence in Robotics and Automation. (2003)

K.Naruse、M.Kinoshita、H.Yokoi、Y.Kakazu：“具有二维内部状态和一对一主观评价的智能体的群组形成”IEEE机器人与自动化计算智能国际会议。