环境与任务诱导的模块化机器人协进化理论与控制基础

项目名称： 环境与任务诱导的模块化机器人协进化理论与控制基础

项目编号： No.61273316

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 朱延河

作者单位： 哈尔滨工业大学

项目金额： 80万元

中文摘要： 模块化自重构机器人的核心价值在于能够通过改变自身的结构形式、涌现新的功能来适应不同的环境条件和作业要求，实践证明，基于自上而下思想设计机器人的目标构型、规划重构过程、控制各个模块的运动，其难度大大超出了人们最初的设想。本课题尝试从全新角度认识自重构机器人形态演化、状态变迁的本质，希望借鉴自然界普遍存在的群体自组织、以及生物从低级向高级发展进化的原理研究模块自重构机器人构型和控制功能的自动规划问题，将环境与任务看作机器人构型与控制策略更新的驱动力或诱导因素，以进化机器人理论为框架，利用大量模块组成的机器人系统内在的自组织特性和模式涌现特性，促使自重构机器人朝着适应环境和任务的方向发展进化，不断调整结构形式、更新控制策略，最终演化形成高度协调的机器人构型与控制规律。本项目的突破，不仅将为大规模自重构机器人系统的自动规划提供途径，同时也将推动具有普适性的进化机器人理论的发展。

中文关键词： 模块化机器人；自重构；协进化；自生长；混沌神经网络

英文摘要： The core value of the modular self-reconfigurable robot is the ability to adapt different environment and task through changing its own structure and new configuration. From the long time of practice, the method which based on top-down way of designing the target configuration, self-reconfiguration and locomotion is much difficult than assumed initially. In this project, we will try to study the nature of morphology evolution and state changing about the self-reconfigurable robot from the new angle. The biological principle of self-organizing and evolution from lower to higher animals is learned to solve the automatic planning of configuration and control method of the self-reconfigurable robot. The environment and task will be taken as the driving force and induced factor of the self-reconfiguration and locomotion strategy. We will utilize the self-organization and pattern emergence of the robot system made of large quantity of modules to promote the system to develop in the direction of adapting the environment and task. Through continuously adjusting the structure and updating the control strategy, the optimized configuration and the corresponding control strategy will be evaluated finally. The breakthrough of this project can not only provide an avenue for the large-scale automatic planning of the self-reco

英文关键词： Modular robots；Self-reconfiguration；Co-evolution control；Self-growing；Chaotic CPG network