Proposal of New Framework of Controller Design Based on Perception

摘要

In this paper we propose new framework of controller design for redundant robots which works in unknown complex world. We consider three problems of unknown complex world. They are problem of sensing, problem of modeling and problem of real-time processing. We show that the cause of the problem is to model the real world by using physical quantity. To solve the problems, we employ perceptional model, which is an abstracted expression of the real world, instead of the conventional physical model. To realize new controller which use the perceptional model, we propose the passive intelligence and the active intelligence. We show that the perception can be realized in real-time by the passive intelligence using properties of the real world, and we also show that active intelligence can control the robot without suffering of the problem of real-time processing by using the perceptional model.To demonstrate the effectiveness of the proposed framework, we have applied the framework to a snake-likee robot which has crawlers. As a result, effective behavior moving toward a light source has been realized.