The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2011
Session ID : 1A1-O13
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1A1-O13 Acquisition of swimming on artificial creature by using elastic springs(Evolution and Learning for Robotics)
Akihiro FUKUMOTO, Ikuo SUZUKI, Masahito YAMAMOTO, Masashi FURUKAWA
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Keywords: Artificial Life, Physics Modeling, Swimming Behavior, Virtual Muscle, Artificial Neural Network
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Abstract
Many real creatures have muscles to control their flexible movement. This study proposes a virtual muscle model and its control method for artificial swimming creature. The virtual muscles are composed of elastic springs for the uses of actuators. ANN controls these actuators. The virtual muscle's parameters and ANN's parameters are optimized for the creature to achieve proper swimming by EC and PSO. Using simulation results, the swimming of the artificial creature can be compared to the real swimming creature.
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© 2011 The Japan Society of Mechanical Engineers
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