Acquistion of Motion Intelligence Using Dynamical Coupling -ReaIization of Travelling by Arm 's Motion of Mobile Manipulator without Driving System -

摘要

In this research， we propose a concept of motion intelligence using a mobile manipulator which does not possess driving power. The motion intelligence is defined here as that the mobile manipulator can find by itself a way to use its dynamical coupling for a desired motion，that is here， travel1ing motion. We propose a strategy that a machine can maximize the effect of the dynamical coupling using static nonlinear friction between wheels and floor. The method proposed in this paper is composed of a way to give a mounted manipulator a sample motion using Fourier Series and an evaluation function used in Genetic Algorithm as a fitness function. We confirmed by real experiments that the mobile manipulator could find effective and best motion of l-link mounted manipulator which makes it