Generalization using properties of the real world and autonomous division of state-action space

研究成果の概要 (和文) : 本研究では，「汎化機能を実現しているものは，学習により得られる内部モデルではなく，実世界に最初から存在している普遍的性質である」との仮説をたて，この「実世界の普遍的性質を利用した適応的な振る舞いの生成」ならびに，「学習により状態・行動空間を分化させ，振る舞いの精度を向上させてゆく新しい学習の枠組み」について検討した．前者は，生物の生得的な適応の仕組みに相当するものであり，主にロボットの身体の柔軟性を用いて実現する方法を提案した．また，後者の後得的な学習は試行錯誤をもとにした教師なし学習により実現した．研究成果の概要 (英文) : In this study, we focus on properties of the real world, and we propose a framework to realize adaptive behavior of a robot using properties of the real world. In addition, we propose a learning algorithm to improve the behavior by dividing the sate-action space.As an example, we develop flexible robots, and an learning algorithm based on trial-and-error

A MULTI-LEGGED ROBOT CAPABLE OF MOVING CURVED COLUMNAR OBJECTS : TAOYAKA-IV

The inspection and maintenance of large industrial plants is an important task for robots. Also, in emergency, a robot that can be applied to rescue applications is required. These tasks would be very difficult for conventional robots, because most extant robots must first assess the shape of the object and control many DOF to climb. In our previous works, we developed a flexible manipulator inspired by an octopus, which could grasp various objects without sensors or controls. Its flexible body passively adapted to differences in the objects\u27 features. In this research, we apply this mechanism to a six-legged climbing robot that can climb arbitrary columnar objects without first sensing their shapes

大型インフラの点検保守を目的とした モジュラーロボットの開発

In this research, we developed a modular robot by improving our previous rescue robot. The previous robot has many serially connected crawlers to realize high mobility. However, the number of the crawler units was fixed and the operator could not customize the robot for the given task. In this research, we modularized our previous robot to solve this problem. We conducted experiments and demonstrated that the proposed robot canbe applied to various search tasks by changing its formation.Key Words : Robot, Rescue robot, Module, Passive mechanism

Multi-connected crawler robot with passive joints Improvement of mobility by weight reduction

In this study, a conventional rescue robot was modified to improve its mobility. Conventional robots were heavy and had a problem of wheels off due to interference between the parts fixing the wheels and crawler protrusions. To solve this problem, this study improved the mobility while reducing the weight of the machine body. In addition, the crawler plate protrusions and the crawler plate were integrated. Experiments have confirmed that the machine\u27s mobility is better than that of conventional machines and that the crawler does not wheel off

SOFT ROBOT INSPIRED BY OCTOPUS LIKE BEHAVIOR : LIGHT WEIGHT AND EXTENDED RANGE OF MOVEMENT

In this study, we developed a new type of robot that can move on the floor surface, inspired by the movement of an octopus. To realize the new robot, we reviewed the center of gravity and other aspects of the robot, taking into account the ladder-climbing robot, and attempted to reduce the robot\u27s weight. To demonstrate the effectiveness of the new robot, we conducted experiments in which the robot moved on a relatively smooth floor, and were able to achieve effective behavior

TAOYAKA-Ⅶ : A MULTI-LEGGED ROBOT CAPABLE OF CLIMBING COLUMNAR OBJECTS AND WALKING ON ROUGH TERRAIN

In recent years, robots have applied not only to known environments such as factories, but also unknown complex environments, such as rescue missions and agriculture. In our previous works, we have developed a six-legged robot that can climb various columnar objects without measuring their shape and size by imitating an octopus-like behavior. In addition, it could walk on a flat horizontal plane. However, its legs were not sufficiently stiff to enable rough terrain such as rubbles and steps. The goal of this research is to improve our previous robot to adapt it to various environments such as steps and rough terrain. Experiments were conducted, and as the results, we confirmed that the robot can climb columnar objects as well as walk on rough terrain and steps

LADDER CLIMBING SOFT ROBOT INSPIRED BY OCTOPUS LIKE BEHAVIOR

In this study, we propose a climbing robot inspired by octopus like behavior. The robot has two soft arms inspired by octopus like behavior. The robot can be controlled only two-dimensional control inputs in spite of its many degrees of freedom, and it can grasp various bar and objects. We developed a prototype made of silicone, and experiments were conducted to demonstrate climbing motion over a ladder, aerial ladder and bumpy walls. Results confirmed that the proposed soft arm is effective, and the robot can climb various types of ladders and bumpy walls only two motors

REALIZATION OF PERISTALTIC MOVEMENT BY MULTI-AIR SAC SOFT ROBOT : DEVELOPMENT OF A SOFT AIR VALVE AND CONTROL USING THE DYNAMICS OF THE BODY

In a conventional framework of intelligence, a brain is considered as the source of intelligence. However, lower animals can behave adaptively in the complex real world in spite of their simple brains. The dynamics of the body control their movement. In this study, we propose a crawling soft robot. The robot does not include sensors or controllers. The robot moves using the dynamics of the soft body instead of an electrical controller. We developed an actual robot and experiments were conducted to demonstrate effectiveness of cyclic expanding and shrinking motions. As a result, we confirmed that the crawling motion could be realized by simply injecting air at constant pressure

Development and evaluation of a novel robotic system for search and rescue

Search and Rescue robotics is a relatively new field of research, which is growing rapidly as new technologies emerge. However, the robots that are usually applied to the field are generally small and have limited functionality, and almost all of them rely on direct control from a local operator. In this paper, a novel wheeled Search and Rescue robot is proposed which considers new methods of controlling the robot, including using a wireless “tether” in place of a conventional physical one. A prototype is then built which acts as a proof of concept of the robot design and wireless control. The prototype robot is then evaluated to prove its mobility, wireless control and multi-hop networking. The experimental results demonstrate the effectiveness of the proposed design incorporating the rocker-bogie suspension system and the multi-hop method of “wireless tethering”

Task-Space Control of Articulated Mobile Robots With a Soft Gripper for Operations

A task-space method is presented for the control of a head-raising articulated mobile robot, allowing the trajectory tracking of a tip of a gripper located on the head of the robot in various operations, e.g., picking up an object and rotating a valve. If the robot cannot continue moving because it reaches a joint angle limit, the robot moves away from the joint limit and changes posture by switching the allocation of lifted/grounded wheels. An articulated mobile robot with a gripper that can grasp objects using jamming transition was developed, and experiments were conducted to demonstrate the effectiveness of the proposed controller in operations