Study on Dynamics based Intelligence of Hyper-redundant Mechanical Systems with Variable Constraints

变约束超冗余机械系统动力学智能研究

• 批准号: 17360105
• 负责人: MATSUNO Fumitoshi
• 金额: $ 9.74万
• 依托单位: The University of Electro-Communications
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2005
• 资助国家: 日本
• 起止时间: 2005 至 2007
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17360105/
• 关键词: Hyper-redundant Systems; Flexible Mechanical Systems; Dynamic based Control; Dynamics based Intelligence; Nonholonomic Constraint; Infinite dimensional systems; Learning Algorithm; Snake-like Robot; ダイナミクスペースト制御; ダイナミクスペースト・インテリジェンス; 可変拘束システム

We have extended the concept of "Dynamic based Control" of the nonlinear system to the nonholonomic hyperredundant systems. We have proposed the reinforcement learning algorithm for the hyperredundant systems based on the dynamics based control.The results obtained in the research are as follows:1. Derivation of dynamic model of hyperredundant systems with nonholonomic constraints2. Construction of model based control law for hyperredundant systems with nonholonomic constraints and experimental demonstration of effectiveness of the proposed control law3. Construction of dynamics based control law for infinite dimensional systems and experimental demonstration of effectiveness of the proposed control law for flexible mechanical systems4. Design of the reinforcement learning algorithm for the hyperredundant systems based on the dynamics based control5. Experimental demonstration of effectiveness of the proposed reinforcement learning method by using a redundant snake-like robot

我们已经将非线性系统的“基于动态控制”的概念扩展到了非独世纪超冗余系统。我们已经提出了基于基于动力学的控制的超冗余系统的强化学习算法。研究中获得的结果如下：1。具有非义学约束的超冗余系统动态模型的推导2。针对具有非体力学约束的超冗余系统的基于模型的控制定律的构建以及拟议的控制法的有效性的实验证明3。基于动力学的控制法的构建无限尺寸系统以及拟议控制法的有效性的柔性机械系统的有效性的实验证明4。基于基于动力的控制的超冗余系统的增强学习算法的设计。通过使用多余的蛇形机器人，实验表明所提出的加固学习方法的有效性

项目成果

Augmented stable fuzzy control for flexible robotic arm using LMI approach and neuro-fuzzy state space modeling

• DOI: 10.1109/tie.2007.896439
• 发表时间: 2008-03-01
• 期刊: IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
• 影响因子: 7.7
• 作者: Chatterjee, Amitava;Chatterjee, Ranajit;Endo, Takahiro
• 通讯作者: Endo, Takahiro

Distributed Model Predictive Control for Multi-Vehicle Formation with Collision Avoidance Constraints

• DOI: 10.1109/cdc.2005.1583034
• 发表时间: 2005-12
• 期刊: Proceedings of the 44th IEEE Conference on Decision and Control
• 作者: H. Fukushima;K. Kon;F. Matsuno

Development of Three-legged Modular Robots and Demonstration of Collaborative Task Execution

• DOI: 10.1109/robot.2007.364076
• 发表时间: 2007-04
• 期刊: Proceedings 2007 IEEE International Conference on Robotics and Automation
• 作者: Masaki Ohira;R. Chatterjee;T. Kamegawa;F. Matsuno

Cooperative Control of Three Snake Robots

三蛇机器人的协同控制

• 发表时间: 2006
• 期刊: Proc. IEEE Int. Conf. on Intelligent Robots and Systems
• 作者: Motoyasu Tanaka;Fumitoshi Matsuno
• 通讯作者: Fumitoshi Matsuno

Snake-like Robots - from Biologically Inspired Robots to Search and Rescue Robots

蛇形机器人——从仿生机器人到搜索救援机器人

• 发表时间: 2005
• 期刊: Video Proceedings of 2005 IEEE Int.Conf.on Robotics and Automation, Snake robots CD-ROM
• 作者: Fumitoshi Matsuno;Tetsushi Kamegawa;Kentaro Suenaga;Toru Kawai;Tatsuhiro Yamasaki;Yu-huan Chiu
• 通讯作者: Yu-huan Chiu