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

我们将非线性系统的“基于动态的控制”的概念扩展到非完整超冗余系统。我们提出了基于动力学控制的超冗余系统的强化学习算法。研究取得的成果如下： 1．非完整约束超冗余系统动态模型的推导2．具有非完整约束的超冗余系统基于模型的控制律的构建以及所提出的控制律有效性的实验证明3。无限维系统基于动力学的控制律的构建以及所提出的柔性机械系统控制律有效性的实验证明4。基于动力学控制的超冗余系统强化学习算法设计。使用冗余蛇形机器人实验证明所提出的强化学习方法的有效性

项目成果

Evaluation of snake-like rescue robot "KOHGA" for usability of remote control

蛇形救援机器人“KOHGA”的遥控可用性评估

• DOI: 10.1109/ssrr.2005.1501269
• 发表时间: 2005-06-06
• 期刊: IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.
• 作者: T. Kamegawa;T. Yamasaki;F. Matsuno
• 通讯作者: F. Matsuno

ねじ推進ヘビ型ロボットのモデリングと制御

螺旋驱动蛇形机器人的建模与控制

• 发表时间: 2006
• 作者: 里村章悟; 原正哉; 福島宏明; 亀川哲志; 五十嵐広希; 松野文俊
• 通讯作者: 松野文俊

Boundary control of translating tensioned beam with varying speed

张拉梁变速平移边界控制

• 发表时间: 2005
• 作者: Kyung

Boundary control of translating tensioned beam with varying speed

张拉梁变速平移边界控制

• 发表时间: 2005
• 作者: Kyung

A stable state-feedback Fuzzy controller employing linear matrix inequalities for flexible link robotic arm

柔性连杆机械臂采用线性矩阵不等式的稳定状态反馈模糊控制器

• 发表时间: 2005
• 作者: Amitava Chatterjee; Ranajit Chatterjee; Fumitoshi Matsuno; T.Endo
• 通讯作者: T.Endo