..

机器人与自动化的进步

Developing Serpentine Robot Control to use Lateral Affordances

Abstract

William R Hutchison

This paper describes the unique challenges in developing control of complex lateral movements needed by a serpentine robot to ascend steep slopes by climbing over and around affordances/obstacles on the slope. The research extends previous serpentine robot work developing control of sagittal movements for climbing up stairs and over uneven parallel bars. Effective lateral control was developed using an iterative combination of learning, a genetic algorithm, and developer programming. The robot's many simultaneous movements were controlled mostly as a function of very local sensory inputs and little centralized coordination.

免责声明: 此摘要通过人工智能工具翻译,尚未经过审核或验证

分享此文章

索引于

相关链接

arrow_upward arrow_upward