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首页> 外文会议>Unmanned Systems Technology VIII pt.2 >Artificial spider: eight-legged arachnid and autonomous learning of locomotion
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Artificial spider: eight-legged arachnid and autonomous learning of locomotion

机译：人工蜘蛛：八足蜘蛛和自主学习运动

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摘要

Evolution has produced organisms whose locomotive agility and adaptivity mock the difficulty faced by robotic scientists. The problem of locomotion, which nature has solved so well, is surprisingly complex and difficult. We explore the ability of an artificial eight-legged arachnid, or animat, to autonomously learn a locomotive gait in a three-dimensional environment. We take a physics-based approach at modeling the world and the virtual body of the animat. The arachnid-like animat learns muscular control functions using simulated annealing techniques, which attempts to maximize forward velocity and minimize energy expenditure. We experiment with varying the weight of these parameters and the resulting locomotive gaits. We perform two experiments in which the first is a naive physics model of the body and world which uses point-masses and idealized joints and muscles. The second experiment is a more realistic simulation using rigid body elements with distributed mass, friction, motors, and mechanical joints. By emphasizing physical aspects we wish to minimize, a number of interesting gaits emerge.
机译：进化产生了生物，它们的机车敏捷性和适应性嘲笑了机器人科学家所面临的困难。自然已经很好地解决了运动问题，这是令人惊讶的复杂和困难。我们探索了一种人造的八足蜘蛛或动物的能力，可以在三维环境中自主学习机车的步态。我们采用基于物理学的方法来对动画的世界和虚拟物体进行建模。类蛛网状的动物有一种使用模拟退火技术学习肌肉控制功能的方法，该技术试图使前进速度最大化并使能量消耗最小化。我们尝试通过改变这些参数的权重以及所产生的机车步态。我们进行了两个实验，其中第一个是人体和世界的幼稚物理模型，它使用点质量以及理想的关节和肌肉。第二个实验是使用具有分布质量，摩擦，电动机和机械接头的刚体元素进行的更真实的模拟。通过强调我们希望最小化的物理方面，出现了许多有趣的步态。

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