多自由度マニピュレータによる関節負荷に基づく作業空間の学習

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2017/12/01

タイトル(英語): Learning of Working Space based on Joint Overloads for a Multi-DOF Manipulator

著者名: 原田　篤（米子工業高等専門学校），鈴木　健嗣（筑波大学システム情報系）

著者名(英語): Atsushi Harada (National Institute of Technology, Yonago College), Kenji Suzuki (Faculty of Engineering, Information and Systems, University of Tsukuba)

キーワード: 多自由度マニピュレータ，セルフモデリング，確率モデリング，オンライン動作学習，車椅子搭載型　　Multi-DOF manipulator，Self-modeling，Probabilistic-modeling，Online behavior learning，Mounted onto wheelchair

要約(英語): This paper describes a novel method of probabilistic self-modeling based on learning of operating space from exploratory actions of a multi-DOF manipulator, which is designed for mounting it onto the wheelchair. The developed anthropomorphic multi-DOF manipulator is able to learn both of the operating range in each joint and the probabilistic operating space based on Gaussian Mixture Model and Variational Bayesian learning algorithm. We introduce an acquisition method of the operating space by using the historical data of irregular overload, which is detected by using analogue current signals measured by solely internal sensor of joint motors. In addition, online behavior learning with a simple probabilistic path planning is also presented based on the obtained probabilistic operating space. We will conduct several experiments with a real multi-DOF manipulator arm. After the basic characteristics of the obtained operating space are shown, the performance of interaction with different situations such as different load given to the arm and obstacles placed in the surrounding environment will also be demonstrated.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.137 No.12 （2017） 特集Ⅰ：電気・電子・情報関係学会東海支部連合大会　特集Ⅱ：国際会議ICESS2016

本誌掲載ページ: 1659-1668 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/137/12/137_1659/_article/-char/ja/