Modeling and movement control of Mobile SMA-Net
説明
This paper discusses the modeling of Mobile SMA-Net, and movement control. Mobile SMA-Net is a robot which combines the spring of a shape memory alloy in the shape of a lattice, and has very redundant flexibility. Therefore, the physical characteristic is modeled based on a real robot's measurement data, a simulator is created, and movement is controlled. Since the robot has very large flexibility, in order that the robot may be controlled, he ingratiates himself in learning. However, in order that the robot may change his own form in the action process, learning and the mechanisms which can be re-learned are needed. In this paper, robust control is realized using reinforcement learning.
収録刊行物
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- Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694)
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Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694) 1 253-258, 2004-03-02
IEEE