학술논문
1A1-E07 A Study on Evolutionary Robotic System Based on Balance between Morphology and Intelligence : Emergent Mechanism of Distance Measurement Functions depending on Tasks(Evolution and Learning for Robotics(1)) / 1A1-E07 形態と知能の調和を考慮した進化ロボットシステムに関する研究 : 目標距離に依存した距離測定機能発現メカニズムの解明(進化・学習とロボティクス(1))
Document Type
Journal Article
Author
Source
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2012, 1
Subject
Language
Japanese
ISSN
2424-3124
Abstract
We clarify a design principle, i.e., emergent mechanism of distance measurement function, by using evolutionary robotic system which designs morphology and intelligence autonomously. In nature, a living creature measures distance to a target by tactile sensors in the case of short range, by a stereo vision in the case of middle range, and by memory of the past state in the case of long range. In this paper, we gave the robot a task keeping distance to a target and investigated functions generated by created body structure and control method. The result showed that the strategy for distance measurement changed from the contact type, to the binocular disparity type, to the binocular disparity with memory type, and to the memory type depending on the target distance as well as nature principle.