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1989 Fiscal Year Final Research Report Summary

Control of Mechanical System with Knowledge Data Base

Research Project

Project/Area Number 62420028
Research Category

Grant-in-Aid for General Scientific Research (A)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionThe University of Tokyo

Principal Investigator

MIURA Hirofumi  The University of Tokyo, Mechanical Eng., Professor, 工学部, 教授 (50010682)

Co-Investigator(Kenkyū-buntansha) SHIMOYAMA Isao  The University of Tokyo, Mechanical Eng., Associate Professor, 工学部, 助教授 (60154332)
Project Period (FY) 1987 – 1989
KeywordsIntelligent Robot / Intelligent Traveling / Learning Ability / Knowledge Data Base
Research Abstract

In this research, two kinds of mechanical system have been treated. The results are described in the following.
(1) Intelligent Mobile Mechanical System-The quadruped robots were constructed. They walked autonomously. In walking motion, there are so many parameters and the criteria function for deciding a good walking pattern is not known. We investigated and analyzed the walking motion of actual animals ( dogs were mainly investigated ) in detail. It was found that energy consumption is one of very important parameters for walking motion. Gait ( which legs swing in which order ), duty factor ( ratio of the time the leg is contacting the floor over one cycle of walk ) and other parameters are decided by the criteria to minimize the energy consumption. This was concluded by comparison of investigating results of actual animals and results of dynamic analysis of the model. By control algorithm using this knowledge, the quadrupeds walked very smoothly in stable state.
(2) Software for Intelligent Robot-We succeeded in constructing the robot having problem solving ability and learning ability. Problem solving means planning of action and execution of it. Learning means obtaining of necessary knowledges for problem solving. Robots which work in the real world have two problems. They are uncertainty of the result of action and lack of knowledge about working objects and environment. To conquer these problem, ability of problem solving and ability of learning requested. In this research, these two abilities were studied together. The results have been highly evaluated internationally.

  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] 木村浩,下山勲,三浦宏文: "四足動歩行における歩容選択の条件" 第5回日本ロボット学会学術講演会論文集. 369-370 (1987)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Kemura, I.Shimoyama, H.Miura: "Criteria for Dynamic Walk of the Quadruped" Proceedings of THE INTERNATIONAL SYMPOSIUM AND EXPOSITION ON ROBOTS. 595-600 (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 木村浩,下山勲,三浦宏文: "四足歩行ロボットの力学的解析" 日本ロボット学会誌. 6. 367-379 (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 三浦純,下山勲,三浦宏文: "ロボットの自動作業計画生成-実行システム構成のための枠組" 第5回日本ロボット学会学術講演会論文集. 55-58 (1987)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] J.Miura, I.Shimoyama, H.Miura: "A Model of Intelligence for Robots:The Integration of Problem Solving,Learning,and Execution Management" Proceedings of 1988 IEEE International Workshop on Intelligent Robots and Systems(IROS'88). (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 三浦純,下山勲,三浦宏文: "知能ロボットにおける問題解決と学習のモデル" 第6回日本ロボット学会学術講演会論文集. 183-186 (1988)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H. Kimura, I. Shimoyama and H. Miura: "Condition for Gait Selection of the Quadruped" Proc. of 5th Meeting of the Robotics Society of Japan. 369-370 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H. Kimura, I. Shimoyama and H. Miura: "Criteria for Dynamic Walk of the Quadruped" Proc. of the International Sympo. and Exposition on Robots 595-600, 1988.

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H. Kimura, I. Shimoyama and H. Miura: "Dynamical Analysis of The Quadruped" Journal of the Robotics Society of Japan. vol.6. 367-379 (1988)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] J. Miura, I. Shimoyama and H. Miura: "Automatic Task Planning of Robots" Proc. of 5th Meeting of the Robotics Society of Japan 55-58, 1987.

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] J. Miura, I. Shimoyama and H. Miura: "A Model of Intelligence for Robots: The Integration of Problem Solving, Learning and Execution Management" Proc. of 1988 IEEE International Workshop on Intelligent Robots and Systems( IROS'88 ).

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] J. Miura, I. Shimoyama and H. Miura: "Model of Problem Solving and Learning of Intelligent Robot" Proc. of 6th Meeting of the Robotics Society of Japan 183-186, 1988.

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1993-03-26  

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