遺伝的アルゴリズムを用いた三足歩行ロボットの研究

抄録

Formerly a reference pattern of the actuator angle of the leg of a walking robot had to be prepared beforehand, in the control of a robot. In spite of this complicated task, perfect control was possible. However, as the system is complex in such an exact control method, the calculation time becomes too long, and thus, the robot is unable to walk fast. However, we are able to apply the Genetic Algorithms (GA) to a walking robot. It enables the robot to learn the techniques of walking autonomically more smoothly. And so, the way of walking can be selected according to the surrounding environment. Furthermore many actuators and sensors attached to the robot must be integrated. A Three-Legged-walking Robot was experimentally produced for this study. All legs of the robot have the same mechanism. An analysis of dynamic characteristics of the robot was carried out, and a fundamental walking control method was examined. The robot is controlled by genetic algorithm which is made the non-linear state equation in condition of grounding state, the solution is calculated on a computer, and optimum walking pattern is decided by genetic algorithms. It is difficult to get an optimum solution on non-linear state equation, however, genetic algorithm is useful method to get the solution.