Robot motion emergence based on
attractor design
1. Attractor based robot control Robots are stabilized by a feedback controller and robot motion is realized by giving a reference motion pattern to the colosed loop system. On the other hand, consider the robot dynamics as;A cyclic robot motion draws a closed curved line in the state space. In this research, we design a nonlinear feedback controller so that the state variable is entrained to the closed curved line as shown in the following figure. Based on our method, the robot yields motion autonomously without reference motion pattern, which means the robot motion is emerged by the interaction between robot body dynamics, control algorithm and its environments. The following movie shows an experimental result of a tap dancing robot.
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2. Robot-robot communication based on attractor design Attractor design method is employed for two robots, and the controllers are changed as;motion synchronization is realized as shown in the follwing movies.
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3. Pseudo-reference for motion transfer The following figure shows a successive image of a long jump. We sometimes use comments as "(a) run as if you climb stairs" or "(b) throw up your head and foot".
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e-mail : @mep.titech.ac.jp