自动化学报2016，Vol.42Issue(8)：1175-1184,10.DOI:10.16383/j.aas.2016.c150598
两轮机器人具有内发动机机制的感知运动系统的建立
Establishment of a Two-wheeled Robot0s Sensorimotor System with Mechanism of Intrinsic Motivation
摘要
Abstract
Aimed at solving the problem of two-wheeled robot0s balance control in movement, a kind of artificial senso-rimotor system named TWR-SMS (two-wheeled robot sensorimotor system) is established, which endows the robot with the ability to keep balance through contacting with the environment. The cognitive system of the TWR-SMS is designed based on learning automaton, and the concepts of curiosity and orientation are introduced, as well as the mechanism of intrinsic motivation which can help the robot explore and learn the environment actively is designed. The experiments0 results show that the mechanism of the intrinsic motivation not only improves the robot0s ability of self-learning and self-organizing, but also avoids the small probability event effectively, which helps keep the robot with high stability. The comparative experiments with linear quadratic regulator (LQR) show that this system has better robustness.关键词
两轮机器人/自平衡控制/感知运动系统/内发动机机制Key words
Two-wheeled robot/self-balancing control/sensorimotor system/intrinsic motivation mechanism引用本文复制引用
张晓平,阮晓钢,肖尧,朱晓庆..两轮机器人具有内发动机机制的感知运动系统的建立[J].自动化学报,2016,42(8):1175-1184,10.基金项目
国家自然科学基金(61375086),国家留学基金(201406540017)资助Supported by National Natural Science Foundation of China (61375086) and China Scholarship Council (201406540017) （61375086）
