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首页> 外文会议>8th Congress of the Italian Association for Artificial Intelligence; Sep 23-26, 2003; Pisa, Italy >Evolving the Neural Controller for a Robotic Arm Able to Grasp Objects on the Basis of Tactile Sensors
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Evolving the Neural Controller for a Robotic Arm Able to Grasp Objects on the Basis of Tactile Sensors

机译：基于触觉传感器的机械臂神经控制器的发展

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摘要

We describe the results of a set of evolutionary experiments in which a simulated robotic arm provided with a two-fingers hand has to reach and grasp objects with different shapes and orientations on the basis of simple tactile information. Obtained results are rather encouraging and demonstrate that the problem of grasping objects with characteristics that varies within a certain range can be solved by producing rather simple behavior that exploit emergent characteristics of the interaction between the body of the robot, its control system, and the environment. In particular we will show that evolved individuals does not try to keep the environment stable but on the contrary push and pull the objects thus producing a dynamics in the environment and exploit the interaction between the body of the robot and the dynamical environment to master rather different environmental conditions with rather similar control strategies.
机译：我们描述了一组进化实验的结果，在这些进化实验中，配备有两只手指的模拟机械手必须根据简单的触觉信息才能达到并抓住具有不同形状和方向的物体。获得的结果令人鼓舞，并且表明，通过产生相当简单的行为可以利用机械手，控制系统和环境之间相互作用的新兴特征来解决抓握特性在一定范围内变化的对象的问题。 。特别是，我们将证明，进化的个体不会试图保持环境的稳定，相反会推拉对象，从而在环境中产生动力，并利用机器人的身体与动力环境之间的相互作用来掌握完全不同的事物。具有相当相似的控制策略的环境条件。

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