ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P2-G16
会議情報
2P2-G16 成長に伴う身体特性の変化を活用した歩行獲得学習の安定化(進化・学習とロボティクス)
坂井 善行渡邉 航西井 淳石黒 章夫
著者情報
会議録・要旨集 フリー

詳細
抄録
The control and mechanical systems of an embodied agent should be tightly coupled so that useful functionalities such as adaptivity can emerge. This indicates that the mechanical system as well as the control system should be capable of a certain level of "computation" for generating the behavior. In order to explicitly indicate this type of "embodied" computation to be embedded in the mechanical system, Pfeifer et al. have recently coined the term called "morphological computation", which is expected to be an indispensable concept for building adaptive agents in various time scale such as here-and-now, ontogenetic, and evolutionary time scales. In this study, we focus on ontogenetic time scale of "morphological computation", and intensively discuss how the change of some body properties through growth influence stable learning to achieve bipedal walking. The preliminary simulation results derived indicate that the change of body parameter through the growth from child to adult plays crucial role in achieving efficient dynamic walking.
著者関連情報
© 2008 一般社団法人 日本機械学会
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