Motor Development of an Pneumatic Musculoskeletal Infant Robot

摘要：

This paper aims to clarify the mechanism of an infant’s locomotive development from the viewpoint of cognitive developmental robotics. We built up an infant-sized musculoskeletal robot driven by McKibben pneumatic actuators, which enable the robot to interact with its environment without any problems of mechanical damage and excessive heat in long-term experiments. We applied a learning algorithm based on central pattern generators and optimization method as way for the robot to acquire its crawling motion. As a result of a developmental experiment, an efficient forward motion was acquired with the proposed method. We discuss how its musculoskeltal body, spinal structure and tonus of the artificial muscles affect its development of crawling behavior.

作者: Kenichi Narioka Koh Hosoda

作者单位: Dept. of Multimedia Engineering,Grad. school of Information Science and Technology,Osaka University,2-1 Yamadaoka,Suita,Osaka,565-0871,Japan

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 963-968

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）