首页> 外文会议>Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on >Behavior coordination of brachiation robot based on behavior phase shift
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Behavior coordination of brachiation robot based on behavior phase shift

机译:基于行为相移的手臂机器人行为协调

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We propose a method to acquire a hierarchical behavior controller which is achieved by shifting phase between local behaviors. Complex behavior is hardly obtained using any unsupervised leaning methods, because of enormous search space. In order to reduce the search space, a hierarchical behavior structure is effective. We have previously proposed a hierarchical behavior controller, which consists of two kinds of modules: behavior coordinator and behavior controller. It is applied to the control problem of a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body. Numerical simulations demonstrate that the obtained controller can successfully achieve continuous locomotion.
机译:我们提出了一种获取分层行为控制器的方法,该方法是通过在局部行为之间转移相位来实现的。由于巨大的搜索空间,很难使用任何无监督的学习方法来获得复杂的行为。为了减少搜索空间,分层的行为结构是有效的。我们之前已经提出了一种分层的行为控制器,它由两种模块组成:行为协调器和行为控制器。它适用于七连杆机械臂控制机器人的控制问题,该机械臂像长臂猿摆动身体一样在一个分支之间动态移动。数值模拟表明,所获得的控制器可以成功地实现连续运动。

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