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AI50
2006

AI in Locomotion: Challenges and Perspectives of Underactuated Robots

10 years 6 months ago
AI in Locomotion: Challenges and Perspectives of Underactuated Robots
Abstract. This article discusses the issues of adaptive autonomous navigation as a challenge of artificial intelligence. We argue that, in order to enhance the dexterity and adaptivity in robot navigation, we need to take into account the decentralized mechanisms which exploit physical system-environment interactions. In this paper, by introducing a few underactuated locomotion systems, we explain (1) how mechanical body structures are related to motor control in locomotion behavior, (2) how a simple computational control process can generate complex locomotion behavior, and (3) how a motor control architecture can exploit the body dynamics through a learning process. Based on the case studies, we discuss the challenges and perspectives toward a new framework of adaptive robot control.
Fumiya Iida, Rolf Pfeifer, André Seyfarth
Added 20 Aug 2010
Updated 20 Aug 2010
Type Conference
Year 2006
Where AI50
Authors Fumiya Iida, Rolf Pfeifer, André Seyfarth
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