Establishment of a two-wheeled robot's sensorimotor system with mechanism of intrinsic motivation - 文章详情页

作者：

Zhang, X.-P. (Zhang, X.-P..) (学者：张新平) | Ruan, X.-G. (Ruan, X.-G..) | Xiao, Y. (Xiao, Y..) | Zhu, X.-Q. (Zhu, X.-Q..)

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摘要：

Aimed　at　solving　the　problem　of　two-wheeled　robot＇s　balance　control　in　movement,　a　kind　of　artificial　sensorimotor　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　experiments＇　results　show　that　the　mechanism　of　the　intrinsic　motivation　not　only　improves　the　robot＇s　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.　Copyright　©　2016　Acta　Automatica　Sinica.　All　rights　reserved.

关键词：

Intrinsic motivation mechanism; Self-balancing control; Sensorimotor system; Two-wheeled robot

作者机构：

[ 1 ] [Zhang, X.-P.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, 100124, China
[ 2 ] [Zhang, X.-P.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China
[ 3 ] [Zhang, X.-P.]Department of Psychology, Michigan State University, Michigan, MI 48824, United States
[ 4 ] [Ruan, X.-G.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, 100124, China
[ 5 ] [Ruan, X.-G.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China
[ 6 ] [Xiao, Y.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, 100124, China
[ 7 ] [Xiao, Y.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China
[ 8 ] [Zhu, X.-Q.]College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing, 100124, China
[ 9 ] [Zhu, X.-Q.]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing, 100124, China

通讯作者信息：

张新平
[Zhang, X.-P.]College of Electronic Information and Control Engineering, Beijing University of TechnologyChina

电子邮件地址：

zhangxiaoping369@163.com

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