つり輪ロボットの演技の進化的獲得

抄録

We have already proposed the “rings gymnastic robot” aiming at an application to the gymnastic coaching. Although handstand skill has been already acquired evolutionarily through the three-link robot, its joint angles throughout the handstand were not considered in the fitness functions. In this paper, handstand skill is evolutionarily acquired by using fitness functions considering the joint angles, which are important factors in its skill and appearance.