Host: Japan Society for Fuzzy Theory and Intelligent Informatics (SOFT)
Recently, many kind of robots have been developed. Motion patterns are designed to specific architecture. When the architecture of the robots has transformed broken by such as joint failure or frame deformation, the robot can't express their prepared motion patterns. In this paper, we proposed adaptation method for transformed architecture using motion expression with remarkable postures. Remarkable postures obtained by vector quantization can describe whole motion patterns by interpolation. Using remarkable postures, the prepared motion patterns can adapt for transformed architecture. Remarkable postures are modified to adapt transformed architecture, so that failed motion patterns are modified appropriately to transformed architecture without the information on transformed architecture. We assumed the robot to be have broken joint. In this condition, experimental results show the adaptation ability for transformed architectures by proposed method without reverse dynamics methods.
