脳型情報処理を行う力学系の多項式設計法とそのヒューマノイドの全身運動生成への応用

Abstract

In this paper, we develop the dynamics-based information processing system that is a brain-like information processing based on dynamical phenomenon. A nonlinear dynamics is designed with the polynomial configuration so that it has attractors on the closed carved lines in the N dimensional space, which means memorization, reproduction and association of the time sequence data of the whole body motions. The motion transition of the humanoid robot is realized by the transition of the dynamics from one attractor to another. In this paper, we propose a design strategy of the system that generates the humanoid whole body motions using entrainment and detrainment phenomenon of the nonlinear dynamics with a motion reduction method based on the principal component analysis.