生物規範型情報処理構造のロボット歩行制御に与える機能の実験的検証

抄録

Our purpose of research is to utilize the robot in open world as same as human live in. Living organisms have the capability of adapting their behaviors to unknown environmental situations. We consider that this capability consists of information processing structure and biological learning method. We have developed the robot motion controller with the information processing structure and biomimetic learning method and shown the function of proposed controller through the walking simulation studies. It has proposed that controller was able to create the adaptive walking to the environment, and adjusting a few parameters of the controller was able to create wide variety of walking, forward, backward and turning. In this paper, we experimentally verify that the proposed method can control the moving directions and emergence the balance of the humanoid robot according to the environmental situations.